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Cartesian control of robotic manipulators with joint compliance*

Published online by Cambridge University Press:  09 March 2009

S. D. Hill  and
R. J. Vaccaro
S. D. Hill
Affiliation:
Department of Electrical Engineering, University of Rhode Island, Kingston, RI 02881, (U.S.A.)
R. J. Vaccaro
Affiliation:
Department of Electrical Engineering, University of Rhode Island, Kingston, RI 02881, (U.S.A.)
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Summary

An efficient on-line scheme for computing the inverse joint solution of robotic manipulators is combined with an improved formulation of robust, non-linear feedback control in joint space to produce a realizable Cartesian control scheme. Parametric uncertainties in the robot model are highlighted by the inclusion of compliance at each joint. Simulation results for a two link, coupled manipulator demonstrate that this Cartesian control enables the tip of the arm to track the demanded trajectory with arbitrarily small error in response to realistic actuator torques.

Type
Article
Information
Robotica , Volume 5 , Issue 3 , July 1987 , pp. 207 - 215
Copyright
Copyright © Cambridge University Press 1987

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