Global regulation of robots using only position measurements
作者： Harry Berghuis , Henk Nijmeijer
DOI: 10.1016/0167-6911(93)90071-D
关键词: Robot 、 Artificial intelligence 、 Position (vector) 、 Control engineering 、 Robotics 、 Engineering 、 Exponential stability 、 Robot control 、 Dynamical system 、 Control theory 、 Control theory 、 Compensation (engineering)
摘要: In this note we propose a simple solution to the regulation problem of rigid robots based on availability only joint position measurements. The controller consists two parts: (1) gravitation compensation, (2) linear dynamic first-order compensator. compensation part can be chosen function either actual or desired position. Both possibilities are aproved yield global asymptotic stability. Performance issues illustrated in simulation study degrees-of-freedom robot manipulator.
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