Efficient control of robot manipulators with model disturbances

Santiago Torres; Juan A. Méndez; Leopoldo Acosta; Victor M. Becerra; Jonay Toledo; Marta Sigut

doi:10.1109/CDC.2006.377660

Efficient control of robot manipulators with model disturbances

Santiago Torres, Juan A. Méndez, Leopoldo Acosta, Victor M. Becerra, Jonay Toledo, Marta Sigut

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The aim of this work is to present a new adaptive strategy for articulated robotic systems in order to reject adequately the tracking errors due to disturbances in the model. The technique is based on a well known robust controller for robotic manipulators proposed by Spong, which is derived using Lyapunov's direct method. The adaptation law acts in an essential parameter of the robust controller, the uncertainty bound parameter, in order to improve its performance. This paper presents real-time experimental results with a Puma-560 robot, comparing the performance of the new strategy with the classical PD controller with gravity compensation and with Spong's robust controller, in case of model uncertainties. It is shown that the adaptive controller improves the performance of previous control strategies

Original language	English
Title of host publication	2006 45th IEEE Conference on Decision and Control
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2931 - 2936
ISBN (Print)	1424401712
DOIs	https://doi.org/10.1109/CDC.2006.377660
Publication status	Published - 2006

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10.1109/CDC.2006.377660

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title = "Efficient control of robot manipulators with model disturbances",

abstract = "The aim of this work is to present a new adaptive strategy for articulated robotic systems in order to reject adequately the tracking errors due to disturbances in the model. The technique is based on a well known robust controller for robotic manipulators proposed by Spong, which is derived using Lyapunov's direct method. The adaptation law acts in an essential parameter of the robust controller, the uncertainty bound parameter, in order to improve its performance. This paper presents real-time experimental results with a Puma-560 robot, comparing the performance of the new strategy with the classical PD controller with gravity compensation and with Spong's robust controller, in case of model uncertainties. It is shown that the adaptive controller improves the performance of previous control strategies",

author = "Santiago Torres and M{\'e}ndez, {Juan A.} and Leopoldo Acosta and Becerra, {Victor M.} and Jonay Toledo and Marta Sigut",

year = "2006",

doi = "10.1109/CDC.2006.377660",

language = "English",

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pages = "2931 -- 2936",

booktitle = "2006 45th IEEE Conference on Decision and Control",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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T1 - Efficient control of robot manipulators with model disturbances

AU - Torres, Santiago

AU - Méndez, Juan A.

AU - Acosta, Leopoldo

AU - Becerra, Victor M.

AU - Toledo, Jonay

AU - Sigut, Marta

PY - 2006

Y1 - 2006

N2 - The aim of this work is to present a new adaptive strategy for articulated robotic systems in order to reject adequately the tracking errors due to disturbances in the model. The technique is based on a well known robust controller for robotic manipulators proposed by Spong, which is derived using Lyapunov's direct method. The adaptation law acts in an essential parameter of the robust controller, the uncertainty bound parameter, in order to improve its performance. This paper presents real-time experimental results with a Puma-560 robot, comparing the performance of the new strategy with the classical PD controller with gravity compensation and with Spong's robust controller, in case of model uncertainties. It is shown that the adaptive controller improves the performance of previous control strategies

AB - The aim of this work is to present a new adaptive strategy for articulated robotic systems in order to reject adequately the tracking errors due to disturbances in the model. The technique is based on a well known robust controller for robotic manipulators proposed by Spong, which is derived using Lyapunov's direct method. The adaptation law acts in an essential parameter of the robust controller, the uncertainty bound parameter, in order to improve its performance. This paper presents real-time experimental results with a Puma-560 robot, comparing the performance of the new strategy with the classical PD controller with gravity compensation and with Spong's robust controller, in case of model uncertainties. It is shown that the adaptive controller improves the performance of previous control strategies

U2 - 10.1109/CDC.2006.377660

DO - 10.1109/CDC.2006.377660

M3 - Conference contribution

SN - 1424401712

SP - 2931

EP - 2936

BT - 2006 45th IEEE Conference on Decision and Control

PB - Institute of Electrical and Electronics Engineers Inc.

CY - Piscataway

ER -

Efficient control of robot manipulators with model disturbances

Abstract

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