PD control with feedforward compensation for robot manipulators: Analysis and experimentation

Robotica

Volumn 19, Issue 1, 2001, Pages 11-19

  Santibañez, Victor ^a   Kelly, Rafael ^b  

^a INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

^b Adm 1   (Mexico)

Author keywords

Feedforward control; Lyapunov function; Motion control; PD control; Robot control; Stability analysis

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); FEEDBACK CONTROL; LYAPUNOV METHODS; MATRIX ALGEBRA; MOTION CONTROL; ROBOTIC ARMS; SYSTEM STABILITY; TORQUE CONTROL; TWO TERM CONTROL SYSTEMS;

FEEDFORWARD COMPENSATION; GLOBAL ASYMPTOTIC STABILITY; ROBOT CONTROL; ROBOT MANIPULATORS;

MANIPULATORS;

EID: 0035023598     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574700002848     Document Type: Article

References (23)

1. M.W. Spong and M. Vidyasagar, Robot Dynamics and Control, (John Wiley and Sons, New York, 1989).
2. A. Liégeois, A. Fournier and M.J. Aldon, "Model reference control of high-velocity industrial robots", Proc. of the Joint Automatic Control Conference, San Francisco, CA., (August, 1980). Session TP10 - D no numbered pages.
3. H. Asada, T. Kanade and I. Takeyama, "Control of a direct-drive arm", ASME Journal of Dynamic Systems, Measurement, and Control, 105, 136-142 (1983).
4. H. Asada and K. Youcef-Toumi, Direct-drive Robots, (The MIT Press, 1987).
5. C.H. An, C.G. Atkeson and J.M. Hollerbach, "Experimental determination of the effect of feedforward control on trajectory tracking errors", Proc. IEEE International Conference on Robotics and Automation, San Francisco, CA (April, 1996) pp. 55-60.
6. C.H. An, C.G. Atkeson and J.M. Hollerbach, Model-Based Control of a Robot Manipulator (The MIT Press, 1988).
7. C.H. An, C.G. Atkeson, J.D. Griffiths and J.M. Hollerbach, "Experimental evaluation of feedforward and computed torque control", IEEE Trans. on Robotics and Automation, 5, No. 3, 368-373 (June, 1989).
8. P.K. Khosla and T. Kanade, "Experimental evaluation of nonlinear feedback and feedforward control schemes for manipulators", Int. J. Robotics Research 7, No. 1, 18-28 (February, 1988).
9. P.K. Khosla and T. Kanade, "Real-Time implementation and evaluation of computed-torque scheme", IEEE Trans. on Robotics and Automation, 5, No. 2, 245-252 (April, 1989).
10. H.T. Chen, P. Jiang, W.H. Zhu and YJ. Wang, "Comparative study of D. D. robot control algorithms for trajectory tracking", 12th IFAC World Congress, Sydney, Australia (July, 1993) Vol. 6, pp. 157-160.
11. Z. Lu, K.B. Shimoga and A.A. Goldenberg, "Experimental determination of dynamic parameters of robotic arms", J. of Robotic Systems, 10, No. 8, 1009-1029 (1993).
12. F. Caccavale and P. Chiacchio, "Identification of dynamic parameters and feedforward control for a conventional industrial manipulator", Control Engineering Practice, 2, No. 6, 1039-1050 (1994).
13. T.J. Tarn, A.K. Bejczy, G.T. Marth and A.K. Ramadarai, "Performance comparison of four manipulators servo schemes", IEEE Control System, 13, No. 1, 22-29 (February, 1993).
14. J.T. Wen and D.S. Bayard, "New class of control laws for robotic manipulators. Part 1: Non-adaptive case", Int. J. Control, 47, No. 5, 1361-1385 (1988).
15. J.T. Wen, "A unified perspective on robot control: The energy Lyapunov function approach", Int. J. Adaptive Control and Signal Processing, 4, No. 6, 487-500 (November-December, 1990).
16. R. Kelly and R. Salgado, "PD control with computed feedforward of robot manipulators: A design procedure", IEEE Transactions on Robotics and Automation, 10, No. 4, pp. 566-571 (August, 1994).
17. S. Arimoto, "Fundamental problems of robot control: Part I. Innovations in the realm of robot servo-loops", Robotica, 13, Part 1, 19-27, (1995).
18. S. Arimoto, "Fundamental problems of robot control: Part II. A nonlinear circuit theory towards an understanding of dexterous motions", Robotica, 13, Part 2, 111-122 (1995).
19. D. Koditschek, "Natural motion for robot arms", Proc. of the 1984 IEEE Conf. on Decision and Control, Las Vegas, NV. (1984) pp. 733-735.
20. F. Reyes and R. Kelly, "Experimental evaluation of identification schemes on a direct drive robot", Robotica, 15, 563-571 (September-October, 1997).
21. D.M. Dawson, J.J. Carroll and M. Schneider, "Integrator backstepping control of a brush dc motor turning a robotic load", IEEE Transactions on Control System Technology, 2, No. 3, 233-244 (September, 1994).
22. M.S. de Queiroz, D. Dawson and T. Burg, "Reexamination of the DCAL controller for rigid link robots", Robotica, 14, Part 1, 41-49 (1996).
23. W.E. Dixon, M.S. de Queiroz, F. Zhang and D.M. Dawson, "Tracking control of robot manipulators with bounded torque inputs", Robotica, 17, No. 2, 121-129 (March-April, 1999).