Journal
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
Volume 51, Issue 1, Pages 65-88Publisher
SPRINGER
DOI: 10.1007/s10846-007-9181-6
Keywords
tracking control; unmeasurable joint velocity; robot manipulator; Lyapunov theory; direct-drive robot
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The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presenting a class of OFT controllers for torque-constrained robots. The theory of singularly perturbed systems is crucial in the analysis of the closed-loop system trajectories. As a second contribution of this paper, we present a detailed experimental study of six control schemes, which were tested in a two degrees-of-freedom direct-drive robot, confirming the advantages of the proposed methodology.
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