Cartesian control of robotic manipulators with joint compliance
Date of Original Version
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. © 1987, Cambridge University Press. All rights reserved.
Hill, S. D., and R. J. Vaccaro. "Cartesian control of robotic manipulators with joint compliance." Robotica 5, 3 (1987): 207-215. doi:10.1017/S026357470001585X.