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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.edu
This 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.edu
This 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.edu
This 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

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

Keywords

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

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Footnotes

Preliminary versions of this paper were presented at conferences.1, 2