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A redesigned DCAL controller without velocitymeasurements: theory and demonstration

Published online by Cambridge University Press:  01 May 1997

T. Burg ,
D. Dawson  and
P. Vedagarbha
T. Burg
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
D. Dawson
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
P. Vedagarbha
Affiliation:
Department of Electrical and Computer Engineering, 102 Riggs Hall, Clemson University, Clemson SC 29634-0915, USA. E-mail: tburg@ eng.clemson.edu
Thiswork is supported in part by the U.S. National Science Foundation GrantsDDM-931133269, DMI-9457967, DOE Contract DE-AC21-92MC29115, the Office of NavalResearch Grant URI-3139-YIP01, the Union Camp Corporation, and the AT&TFoundation.
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Abstract

A link position tracking controller is formulated for an n-link, rigid,revolute, serially-connected robot. The controller generates torque commands tothe individual robot links based on adaptive estimates of the system parametersand measurements of only link positions. A filtering technique, based on thelink position signal, is used to alleviate the need for velocity measurements. Acomplete development of the controller is presented along with a proof ofsemiglobal asymptotic link position-velocity tracking performance. Experimentalvalidation of the proposed controller on the Integrated Motion Inc. (IMI)two-link direct drive robot is also presented. Several extensions to the basiccontroller are described that consider the use of fixed parameterestimates.

Keywords

DCAL controllerTrackingcontrolVelocity estimationRobots
Type
Research Article
Information
Robotica , Volume 15 , Issue 3 , May 1997 , pp. 337 - 346
Copyright
© 1997 Cambridge University Press

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Footnotes

Preliminary versions of this paper were presented atconferences.1, 2