Chapter
Apr 26, 2012
High-Gain Natural Tracking Control in Cartesian Space of Redundant Robots
Authors: William Pratt Mounfield, Jr. [email protected] and Lyubomir T. Gruyitch [email protected]Author Affiliations
Publication: Robotics 2000
Abstract
The natural trackability concept is extended to redundant robots controlled in Cartesian space. The necessary condition for finite-time natural trackability is presented for multi degree-of-freedom robots with unknown internal dynamics. A PID high-gain natural tracking control is synthesized to force a naturally trackable robot system to exhibit a prespecified elementwise exponential tracking. The tracking error is exponentially reduced from some unknown non-zero initial condition to zero in finite-time while the robot is subjected to internal non-linear, unknown, unmeasured, disturbances. The control is synthesized using the Cartesian tracking error, the pseudo-inverse of a product of the output Jacobian matrix, inertia matrix, and the control matrix, and the positive sum of the just realized control. A simulation is shown for a redundant multi degree-of-freedom robot that demonstrates elementwise exponential natural tracking control in Cartesian space.
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Copyright
© 2000 American Society of Civil Engineers.
History
Published online: Apr 26, 2012
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ASCE Technical Topics:
- Algorithms
- Analysis (by type)
- Automation and robotics
- Continuum mechanics
- Degrees of freedom
- Detection methods
- Displacement (mechanics)
- Engineering fundamentals
- Engineering mechanics
- Geomatics
- Inertia
- Mathematical functions
- Mathematics
- Matrix (mathematics)
- Methodology (by type)
- Navigation (geomatic)
- Nonlinear finite element analysis
- Solid mechanics
- Statics (mechanics)
- Structural mechanics
- Systems engineering
- Tracking
Authors
Affiliations
M & M Technologies, Inc., P.O. Box 399, Lexington, SC 29071-0399, U.S.A. E-mail: [email protected]
Université de Technologie Belfort-Montbéliard, Site Belfort, Thierry Mieg P.O. Box 525, 8 Bd. 90010 Belfort Cedex, France. E-mail: [email protected]
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