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Article contents

Stability analysis of the operational space control for industrial robots using their own joint velocity PI controllers

Published online by Cambridge University Press:  01 November 2008

Karla Camarillo
Affiliation:
División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Torreón, Coah., 27000(Mexico).
Ricardo Campa*
Affiliation:
División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Torreón, Coah., 27000(Mexico).
Víctor Santibáñez
Affiliation:
División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Torreón, Coah., 27000(Mexico).
Javier Moreno-Valenzuela
Affiliation:
Centro de Investigación y Desarrollo de Tecnología Digital del IPN, Tijuana, B.C., 22510(Mexico).
*
*Corresponding author. E-mail: recampa@itlalaguna.edu.mx

Summary

Operational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller (RMRC) as outer loop and the joint velocity PI controller as inner loop; the latter is the typical velocity controller used in industrial robots. We prove, by the first time, that these simple controllers make the solutions of the closed-loop system uniformly ultimately bounded. Additionally, we give some simple guidelines for the selection of the control gains so as to ensure an explicit bound of the tracking error.

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Article
Copyright
Copyright © Cambridge University Press 2008

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References

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