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A redesigned DCAL controller without velocitymeasurements: theory and demonstration

Published online by Cambridge University Press:  01 May 1997

T. Burg,
D. Dawson and
P. Vedagarbha
T. Burg
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.eduThis work is supported in part by the U.S. National Science Foundation Grants DDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of Naval Research Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&T Foundation.
D. Dawson
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.eduThis work is supported in part by the U.S. National Science Foundation Grants DDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of Naval Research Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&T Foundation.
P. Vedagarbha
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.eduThis work is supported in part by the U.S. National Science Foundation Grants DDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of Naval Research Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&T Foundation.
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Abstract

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A link position tracking controller is formulated for an n-link, rigid,revolute, serially-connected robot. The controller generates torque commands tothe individual robot links based on adaptive estimates of the system parametersand measurements of only link positions. A filtering technique, based on thelink position signal, is used to alleviate the need for velocity measurements. Acomplete development of the controller is presented along with a proof ofsemiglobal asymptotic link position-velocity tracking performance. Experimentalvalidation of the proposed controller on the Integrated Motion Inc. (IMI)two-link direct drive robot is also presented. Several extensions to the basiccontroller are described that consider the use of fixed parameterestimates.

Keywords

DCAL controllerTrackingcontrolVelocity estimationRobots

Information

Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997, pp. 337 - 346
Copyright
© 1997 Cambridge University Press

Footnotes

Preliminary versions of this paper were presented atconferences.1, 2