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Experimental results for a robust position and force controller implemented on a direct drive robot†

Published online by Cambridge University Press:  09 March 2009

M. M. Bridges,
J. Cai,
D. M. Dawson and
M. T. Grabbe
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Summary

In this paper we present the results obtained from the implementation of a robust position/force controller on a two-degree-of-freedom direct drive robot. The controller is based on the theoretical work presented in references 1 & 2, which guarantees Globally Uniformly Ultimately Bounded (GUUB) position tracking error and bounded force tracking error. The controller accomplishes this stability result in spite of robot model uncertainty and only requires; joint position and velocity measurements, end-effector force measurements, and bounds on the model parameters. Experimental results described in this paper serve to verify the theoretical claims.

Keywords

Direct drive robotForce/position controllerTracking errorsStability

Information

Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995, pp. 11 - 18
Copyright
Copyright © Cambridge University Press 1995

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