Skip to main content Accessibility help
×
Home

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

  • Karla Camarillo (a1), Ricardo Campa (a1), Víctor Santibáñez (a1) and Javier Moreno-Valenzuela (a2)

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.

Copyright

Corresponding author

*Corresponding author. E-mail: recampa@itlalaguna.edu.mx

References

Hide All
1.Sciavicco, L. and Siciliano, B., Modelling and Control of Robot Manipulators (Springer–Verlag, London, 2000).
2.Khatib, O., “A unified approach for motion and force control of robot manipulatots: The operational space formulation,” IEEE J. Robt. Autom. 3 (1), 4352 (1987).
3.Aicardi, M., Caiti, A., Cannata, G. and Casalino, G., “Stability and robustness analysis of a two hierarchical architecture for a closed loop control of robots in the operational space,” Proccedings of the IEEE International Conference on Robotics & Automation, Nagoya, Japan (1995) 2771–2778.
4.Spong, M. and Vidyasagar, M., Robot Dynamics and Control (John Wiley and Sons, New York, NY, 1989).
5.Kelly, R. and Moreno, J., “Manipulator motion control in operational space using joint velocity inner loops,” Automatica 41, 14231432 (2005).
6.Whitney, D. E. and Holzknecht, A., “Resolved motion rate control of manipulators and human prosthesesIEEE Trans. on Man–Mach. Syst., 10 (2), 4753 (1969).
7.Khalil, H., Nonlinear Systems (Prentice Hall, New York, 2005).
8.Kawamura, S., Miyazaki, F. and Arimoto, S., “Is a Local Linear PD Feedback Control Law Effective for Trajectory Tracking of Robot Motion?,” Proceedings of the IEEE International Conference on Robotics & Automation, Philadelphia, PA, USA (1988) 1335–1340.
9.Wang, X., and Chen, L. K., “Proving the Uniform Boundedness of Some Commonly Used Control Schemes for Robots,” Proceedings of the IEEE International Conference on Robotics & Automation, Scottsdale, AZ, USA (1989) 1491–1496.
10.Qu, Z. and Dorsey, J., “Robust tracking control of robots by a linear feedback law,” IEEE Trans. Autom. Control 36 (9), 10811084 (1991).
11.Corless, M. J. and Leitmann, G., “Continuous state feedback guaranteeing uniform ultimate boundedness for uncertain dynamic systems,” IEEE Trans. Autom. Control 26 (5), 11391144 (1981).
12.Kelly, R., Santibáñez, V. and Loría, A., Control of Robot Manipulators in Joint Space (Springer–Verlag, London, 2005).

Keywords

Related content

Powered by UNSILO

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

  • Karla Camarillo (a1), Ricardo Campa (a1), Víctor Santibáñez (a1) and Javier Moreno-Valenzuela (a2)

Metrics

Full text views

Total number of HTML views: 0
Total number of PDF views: 0 *
Loading metrics...

Abstract views

Total abstract views: 0 *
Loading metrics...

* Views captured on Cambridge Core between <date>. This data will be updated every 24 hours.

Usage data cannot currently be displayed.