Cartesian control of robots without dynamic model and observer design

被引：27
作者：
Arteaga, MA
Castillo-Sánchez, A
Parra-Vega, V
机构：
[1] Univ Nacl Autonoma Mexico, Fac Ingn, Div Ingn Elect, Dept Control & Robot, Mexico City 04510, DF, Mexico
[2] IPN, Ctr Invest & Estudios Avanzados, Dept Ingn Elect, Secc Mecatron, Mexico City 07360, DF, Mexico
来源：
AUTOMATICA | 2006年 / 42卷 / 03期
关键词：
tracking control; observer design; Cartesian workspace;
D O I：
10.1016/j.automatica.2005.11.004
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Most control algorithms for rigid robots are given in joint coordinates. However, since the task to be accomplished is expressed in Cartesian coordinates, inverse kinematics has to be computed in order to implement the control law. Alternatively, one can develop the necessary theory directly in workspace coordinates. This has the disadvantage of a more complex robot model. In this paper, a control-observer scheme is given to achieve exact Cartesian tracking without the knowledge of the manipulator dynamics nor computing inverse kinematics. Also, only joint measurements are used. (C) 2005 Elsevier Ltd. All rights reserved.
引用
收藏
页码：473 / 480
页数：8
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