Hostname: page-component-586b7cd67f-2brh9 Total loading time: 0 Render date: 2024-11-22T16:58:44.579Z Has data issue: false hasContentIssue false
  • English
  • Français

Reexamination of the DCAL controller for rigid link robots

Published online by Cambridge University Press:  09 March 2009

M. S. de Queiroz ,
D. Dawson  and
T. Burg
M. S. de Queiroz
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA)
D. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA)
T. Burg
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915 (USA)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, we present two DCAL-like (Desired Compensation Adaptation Law) controllers for link position tracking of n-link, rigid, revolute robot manipulators. First, we use a simplified stability analysis to illustrate global asymptotic link position-velocity tracking for a DCAL-like controller with nonlinear feedback. The proof is simplified by employing a different structure for the nonlinear feedback than that originally proposed and by making use of the nonlinear damping control design tool. We then use the nonlinear damping tool to show that a DCAL-like controller with linear feedback can guarantee semi-global asymptotic link position-velocity tracking. The proposed nonlinear and linear feedback DCAL-like controllers are experimetally tested and compared using the Integrated Motion Inc. 2-link direct drive robot manipulator.

Keywords

DCAL controllerRigid-link robotsNonlinear dampingLinear feedback
Type
Articles
Information
Robotica , Volume 14 , Issue 1 , January 1996 , pp. 41 - 49
Copyright
Copyright © Cambridge University Press 1996

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Sadegh, N. and Horowitz, R., “Stability and Robustness Analysis of a Class of Adaptive Controllers for Robotic Manipulators” Int. J. Robot. Res. 9, No. 9 74–92 (06, 1990).CrossRefGoogle Scholar
2.Kokotovic, P., “The Joy of Feedback: Nonlinear and Adaptive” IEEE Control Syst. Magazine 12, 7–17 (06, 1992).Google Scholar
3.Ortega, R. and Spong, M., “Adaptive Motion Control of Rigid Robots: A Tutorial” Automatica 25, No. 6, 877–888 (1989).CrossRefGoogle Scholar
4.Craig, J.J., Hsu, P. and Sastry, S., “Adaptive Control of Mechanical Manipulators” Proc. IEEE Conf. Robotics and AutomationSan Francisco, CA(July, 1986) pp. 190–195.Google Scholar
5.Bayard, D.S. and Wen, J.T., “New Class of Control Laws for Robotic Manipulators: Part 2. Adaptive Case” Int. J. Control 47, No. 5, 1387–1406 (1988).CrossRefGoogle Scholar
6.Hsu, P., Bodson, M., Sastry, S. and Paden, B., “Adaptive Identification and Control for Manipulators without Using Joint Accelerations” Proc. IEEE Conf. Robotics and AutomationSan Antonio, TX(Dec, 1993) pp. 2137–2142.Google Scholar
7.Slotine, J. and Li, W., “On Adaptive Control of Robot Manipulators” Int. J. Robot. Res. 6(3), 49–59 (1987).CrossRefGoogle Scholar
8.Reed, J. and Ioannou, P., “Instability Analysis and Robust Adaptive Control of Robotic Manipulators” Proc. IEEE Conf. Decision ControlAustin, TX(Dec, 1988) pp. 1607–1612.Google Scholar
9.Middleton, R.H. and Goodwin, C.G., “Adaptive Computed Torque Control for Rigid Link Manipulators” Syst. Control. Lett. 10, 9–16 (1988).CrossRefGoogle Scholar
10.Spong, M.W. and Ortega, R., “On Adaptive Inverse Dynamics Control of Rigid Robots” IEEE Trans. Automatic Control 35, 92–95 (01, 1990).CrossRefGoogle Scholar
11.Yao, B. and Tomizuka, M., “Smooth Robust Adaptive Sliding Mode Control of Manipulators with Guaranteed Transient Performance” Proc. American Control Conf.Baltimore, MD(June, 1994) pp. 1176–1180.Google Scholar
12.Qu, Z., Dorsey, J.F. and Dawson, D.M., “Exponentially Stable Trajectory Following of Robotic Manipulators Under a Class of Adaptive Controls” Automatica 28, No. 3,579–586(1992).CrossRefGoogle Scholar
13.Kelly, R., Carelli, R., and Ortega, R., “Adaptive Motion Control Design of Robot Manipulators: An Input-Output Approach” Int. J. Control 50, No. 6, 2563–2581 (1989).CrossRefGoogle Scholar
14.Brogliato, B., Landau, I. and Lozano-Leal, R., “Adaptive Motion Control of Robot Manipulators: A Unified Approach Based on Passivity” Proc. American Control Conf,San Diego. CA(May, 1990) pp. 2259–2264.Google Scholar
15.Lewis, F., Abdallah, C. and Dawson, D., Control of Robot Manipulators (New York: MacMillan Publishing Co., 1993).Google Scholar
16.Slotine, J. and Li, W., Applied Nonlinear Control (Englewood Cliff, NJ: Prentice Hall Co., 1991).Google Scholar
17.de Queiroz, M.S., Dawson, D. and Burg, T., “Reexamination of the DCAL Controller for Rigid Link Robots” 4th IEEE Conf. Control Applications,(submitted Jan. 1995).Google Scholar
18.Dawson, D.M., Qu, Z., Lewis, F.L. and Dorsey, J.F., “Robust Control for the Tracking of Robot Motion” Int. J. Control 52, 581–595 (1990).CrossRefGoogle Scholar
19.Paden, P. and Panja, R., “Globally Asymptotic Stable PD + Controller for Robot Manipulators” Int. J. Control 47, No. 6, 1696–1712 (1988).CrossRefGoogle Scholar
20.Qu, Z. and Dorsey, J., “Robust Tracking Control of Robots by a Linear Feedback Law” IEEE Trans. Automatic Control 36, 1081–1084 (1991).CrossRefGoogle Scholar
21.Qu, Z.. Dorsey, J.F. and Dawson, D.M., “Robust Control of Robots by Computed Torque Law” Syst. Control Lett. 16, 25–32 (1991).CrossRefGoogle Scholar
22.Kelly, R. and Salgado, R., “PD Control with Computed Feedforward of Robot Manipulators: A Design Procedure” IEEE Trans. Robotics and Automation 10, No. 4, 566–571 (08 1994).CrossRefGoogle Scholar
23.Wen, J.T. and Bayard, D.S., “New Class of Control Laws for Robotic Manipulators: Part 1. Non-adaptive Case”, Int. J. Control 47, No. 5, 1361–1385 (1988).CrossRefGoogle Scholar
24.Dawson, D.M. and Qu, Z., “On Uniform Ultimate Boundedness of a DCAL-like Robot Controller” IEEE Trans. Robotics and Automation 8, No. 3, 409–413 (06, 1992).CrossRefGoogle Scholar
25.Direct Drive Manipulator Research and Development Package Operations Manual (Integrated Motion Inc., Berkeley, CA, 1992).Google Scholar