A control scheme for trajectory tracking of robot manipulatorsThe authors put forward a simple scheme for multivariable control of robot manipulators. The scheme is composed of an inner-loop stabilizing controller and an outerloop tracking controller. The inner loop utilizes a multivariable PD (proportional differential) controller to stabilize the robot by placing the poles at some desired locations. The outer loop uses a multivariable PID (proportional integral differential) controller to achieve input-output decoupling and trajectory tracking. The gains of the PD and PID controllers are related directly to the linearized robot model by simple closed-form expressions. The controller gains are updated online to cope with variations in the robot model for gross motion and payload change. Alternatively, the use of high-gain controllers for gross motion and payload change are discussed.
Document ID
19890024650
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Tarokh, M. (California, University La Jolla, United States)
Seraji, H. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1988
Subject Category
Cybernetics
Meeting Information
Meeting: 1988 IEEE International Conference on Robotics and Automation