Control of Robot Manipulators in Terms of Quasi-Velocities |
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Authors: | Krzysztof Koz?owski Przemys?aw Herman |
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Affiliation: | (1) Poznań University of Technology, ul. Piotrowo 3A, 60-965 Poznań, Poland |
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Abstract: | In this paper we present new control algorithms for robots with dynamics described in terms of quasi-velocities (Kozłowski,
Identification of articulated body inertias and decoupled control of robots in terms of quasi-coordinates. In: Proc. of the
1996 IEEE International Conference on Robotics and Automation, pp. 317–322. IEEE, Piscataway, 1996a; Zeitschrift für Angewandte Mathematik und Mechanik 76(S3):479–480, 1996c; Robot control algorithms in terms of quasi-coordinates. In: Proc. of the 34 Conference on Decision and Control, pp. 3020–3025,
Kobe, 11–13 December 1996, 1996d). The equations of motion are written using spatial quantities such as spatial velocities, accelerations, forces, and articulated
body inertia matrices (Kozłowski, Standard and diagonalized Lagrangian dynamics: a comparison. In: Proc. of the 1995 IEEE
Int. Conf. on Robotics and Automation, pp. 2823–2828. IEEE, Piscataway, 1995b; Rodriguez and Kreutz, Recursive Mass Matrix Factorization and Inversion, An Operator Approach to Open- and Closed-Chain
Multibody Dynamics, pp. 88–11. JPL, Dartmouth, 1998). The forward dynamics algorithms incorporate new control laws in terms of normalized quasi-velocities. Two cases are considered:
end point trajectory tracking and trajectory tracking algorithm, in general. It is shown that by properly choosing the Lyapunov
function candidate a dynamic system with appropriate feedback can be made asymptotically stable and follows the desired trajectory
in the task space. All of the control laws have a new architecture in the sense that they are derived, in the so-called quasi-velocity
and quasi-force space, and at any instant of time generalized positions and forces can be recovered from order recursions, where denotes the number of degrees of freedom of the manipulator. This paper also contains the proposition of a sliding mode control,
originally introduced by Slotine and Li (Int J Rob Res 6(3):49–59, 1987), which has been extended to the sliding mode control in the quasi-velocity and quasi-force space. Experimental results illustrate
behavior of the new control schemes and show the potential of the approach in the quasi-velocity and quasi-force space.
Authors are with Chair of Control and Systems Engineering. |
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Keywords: | Robots Control Quasi-velocities Gravitational forces |
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