Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators

被引：17

作者：

Khelfi, MF ^{[1
]}

Zasadzinski, M ^{[1
]}

Rafaralahy, H ^{[1
]}

Richard, E ^{[1
]}

Darouach, M ^{[1
]}

机构：

[1] UNIV METZ, INRIA LORRAINE, F-57070 METZ, FRANCE

来源：

CONTROL ENGINEERING PRACTICE | 1996年 / 4卷 / 07期

关键词：

robot manipulators; exponential reduced-order observers; controller design; asymptotic stability;

D O I：

10.1016/0967-0661(96)00098-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumed that only the joint angular positions are measured. The joint angular velocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and trajectory control. Sufficient conditions to ensure the closed-loop stability are given. Performances of the reduced-order observer used with these two control laws are illustrated in a simulation study of a two-degrees-of-freedom robot manipulator.

引用

页码：991 / 1000

页数：10

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