Hostname: page-component-cd9895bd7-jkksz Total loading time: 0 Render date: 2024-12-28T04:03:32.335Z Has data issue: false hasContentIssue false
  • English
  • Français

A redesigned DCAL controller without velocitymeasurements: theory and demonstration

Published online by Cambridge University Press:  01 May 1997

T. Burg ,
D. Dawson  and
P. Vedagarbha
T. Burg
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
D. Dawson
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
P. Vedagarbha
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
Get access Rights & Permissions [Opens in a new window]

Abstract

A link position tracking controller is formulated for an n-link, rigid,revolute, serially-connected robot. The controller generates torque commands tothe individual robot links based on adaptive estimates of the system parametersand measurements of only link positions. A filtering technique, based on thelink position signal, is used to alleviate the need for velocity measurements. Acomplete development of the controller is presented along with a proof ofsemiglobal asymptotic link position-velocity tracking performance. Experimentalvalidation of the proposed controller on the Integrated Motion Inc. (IMI)two-link direct drive robot is also presented. Several extensions to the basiccontroller are described that consider the use of fixed parameterestimates.

Keywords

DCAL controllerTrackingcontrolVelocity estimationRobots
Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 337 - 346
Copyright
© 1997 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Footnotes

Preliminary versions of this paper were presented atconferences.1, 2