Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements

Conference paper (2021)

Authors

L.P. Borja Rosales Learning & Autonomous Control - Mechanical, Maritime and Materials Engineering
J. Van Der Veen Rijksuniversiteit Groningen
J. M.A. Scherpen Rijksuniversiteit Groningen
Research Group
Learning & Autonomous Control (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2021 L.P. Borja Rosales, J. Van Der Veen, J. M.A. Scherpen
DOI
help_outline
https://doi.org/10.1109/CDC45484.2021.9683112
More Info
expand_more

Published Date

2021

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Cognitive Robotics

Research Group

Learning & Autonomous Control

Abstract

This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the construction of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.