“Task Space Tracking for Manipulators”

Authors: Olav Egeland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1985, Vol 6, No 2, pp. 91-101.

Keywords: Robots, optimal control

Abstract: For the purpose of controlling a manipulator in the task space, a linear model with task space position and velocity as state variables can be developed. This is done by means of exact compensation of the state-space model non-linearities using non-linear feedback. In this paper, feedback control for this linear state space model is developed using optimal control theory. Integral action is included to compensate for unmodeled forces and torques. In the resulting control system, the problem of transforming the task space trajectory to the joint space is avoided, and the controller parameters can be chosen to satisfy requirements specified in the task space. Simulation experiments show promising results.

PDF PDF (1048 Kb)        DOI: 10.4173/mic.1985.2.3

DOI forward links to this article:
[1] V. Øiestad, T. Pedersen, A. Folkvord, Å. Bjordal and P.G. Kvenseth (1987), doi:10.4173/mic.1987.1.5
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  title={{Task Space Tracking for Manipulators}},
  author={Egeland, Olav},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}