Control of articulated robot arm with sensory feedback: laser beamtracking system
Furuta, K.
Kosuge, K.
Mukai, N.
Dept. of Control Eng., Tokyo Inst. of Technol. ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 1988
Volume: 35,
Issue: 1
On page(s): 31-39
ISSN: 0278-0046
References Cited: 12
CODEN: ITIED6
INSPEC Accession Number: 3130950
Digital Object Identifier: 10.1109/41.3060
Current Version Published: 2002-08-06
Abstract
A method for the trajectory tracking control of an articulated
robot arm using sensory feedback is presented. First, a general control
algorithm for such a problem is presented. To implement sensory feedback
effectively, the dynamics of a robot arm is described in the task
coordinate system. Then the dynamics of the robot arm in the task
coordinate system are linearized using nonlinear feedback. Because the
linearization cannot be done completely because of variations and
identification errors of the physical parameters of a robot arm, a
robust controller is designed so that the effect of parameter variations
and errors can be lessened. The control law is shown to be simplified by
the use of high-gain feedback. The simplification can make the
implementation of the control law very easy. The proposed algorithm is
applied to the trajectory-tracking control of an articulated robot arm
using a laser beam. The experiments show that the proposed algorithm
works well for such a sensory feedback system
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