Positive position control of robotic manipulatorsThe present, simple and accurate position-control algorithm, which is applicable to fast-moving and lightly damped robot arms, is based on the positive position feedback (PPF) strategy and relies solely on position sensors to monitor joint angles of robotic arms to furnish stable position control. The optimized tuned filters, in the form of a set of difference equations, manipulate position signals for robotic system performance. Attention is given to comparisons between this PPF-algorithm controller's experimentally ascertained performance characteristics and those of a conventional proportional controller.
Document ID
19900036638
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Baz, A. (Catholic University of America, Washington, DC, United States)
Gumusel, L. (Catholic Univ. of America Washington, DC, United States)