Title

Cartesian control of robotic manipulators with joint compliance

Document Type

Article

Date of Original Version

1-1-1987

Abstract

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.

Publication Title

Robotica

Volume

5

Issue

3

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