Cart (Loading....) | Create Account
Close category search window
 

Control of Robotic Manipulators Under Input/Output Communication Delays: Theory and Experiments

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Liu, Yen-Chen ; Dept. of Mech. Eng., Univ. of Maryland, College Park, MD, USA ; Chopra, N.

Input/output delays in a control system can pose significant impediments to the stabilization problem and potentially degrade the performance of the closed-loop system. In this paper, we study the classical set-point control problem for rigid robots with input-output communication delays in the closed-loop system. We demonstrate that if there are transmission delays between the robotic system and the controller, then the use of the scattering variables can stabilize an otherwise unstable system for arbitrary unknown constant delays. It is also demonstrated that the proposed algorithm results in guaranteed set-point tracking. In the case of time-varying delays, scattering variables together with additional gains can be utilized to stabilize the closed-loop system that is composed of the robotic manipulator and the controller. Furthermore, a scattering representation-based design with position feedback is proposed to improve closed-loop performance under time-varying delays. The proposed algorithms are validated via experiments in this paper.

Published in:

Robotics, IEEE Transactions on  (Volume:28 ,  Issue: 3 )

Date of Publication:

June 2012

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.