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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.

Type
Article
Copyright
Copyright © Cambridge University Press 2008

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