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Joint space control

  • Carlos Canudas de Wit
  • Bruno Siciliano
  • Georges Bastin
Part of the Communications and Control Engineering book series (CCE)

Abstract

Traditionally, control design in robot manipulators is understood as the simple fact of tuning a PD (Proportional and Derivative) compensator at the level of each motor driving the manipulator joints. Fundamentally, a PD controller is a position and a velocity feedback that has good closed-loop properties when applied to a double integrator. This controller provides a natural way to stabilize double integrators since it can be understood as an additional mechanical (active) spring and damper which reduces oscillations. To this extent, the control of an n-joint manipulator can be interpreted as the control of n independent chains of double integrators for which a PD controller can be designed. In reality, the manipulator dynamics is much more complex than a simple decoupled second-order linear system. It includes coupling terms and nonlinear components such as gravity, Coriolis and centrifugal forces and friction.

Keywords

Adaptive Control Tracking Error Error Equation Robust Control Robot Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1996

Authors and Affiliations

  • Carlos Canudas de Wit
    • 1
  • Bruno Siciliano
    • 2
  • Georges Bastin
    • 3
  1. 1.Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble Rue de la Houille BlancheDomaine UniversitaireSaint-Martin-d’HèresFrance
  2. 2.Dipartimento di Informatica e SistemisticaUniversità degli Studi di Napoli Federico IINapoliItaly
  3. 3.Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique AppliquéeUniversité Catholique de LouvainLouvain-la-NeuveBelgium

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