Title

CARTESIAN CONTROL OF ROBOTIC MANIPULATORS WITH JOINT COMPLIANCE.

Document Type

Conference Proceeding

Date of Original Version

1-1-1986

Abstract

An efficient online scheme for computing the inverse joint solution of robotic manipulators is combined with an improved formulation of robust, nonlinear 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 demand trajectory with arbitrarily small error in response to realistic actuator torques.

Publication Title

Proceedings of the American Control Conference

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