TY - GEN
T1 - Control of robotic manipulators with input-output delays
T2 - 12th International Symposium on Experimental Robotics, ISER 2010
AU - Liu, Yen Chen
AU - Chopra, Nikhil
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2014.
PY - 2014
Y1 - 2014
N2 - In this paper we experimentally study recently developed control algorithms for robotic manipulators with input-output delays. Our previous work demonstrates that the scattering transformation can be used as an effective tool to address delay instability problems in robot control. Specifically, the classical PI controller can be modified to regulate the robotic manipulator in the presence of constant and time-varying input-output delays by using the scattering transformation. These results are validated in this paper through experiments on the PHANToM Omni device. Furthermore, by appropriately compensating for the gravitational and frictional forces, a model of the PHANToM Omni device, suitable for control implementation, is also developed. The implementation of the control algorithms is discussed, and experiments are conducted to demonstrate the efficacy of the proposed results.
AB - In this paper we experimentally study recently developed control algorithms for robotic manipulators with input-output delays. Our previous work demonstrates that the scattering transformation can be used as an effective tool to address delay instability problems in robot control. Specifically, the classical PI controller can be modified to regulate the robotic manipulator in the presence of constant and time-varying input-output delays by using the scattering transformation. These results are validated in this paper through experiments on the PHANToM Omni device. Furthermore, by appropriately compensating for the gravitational and frictional forces, a model of the PHANToM Omni device, suitable for control implementation, is also developed. The implementation of the control algorithms is discussed, and experiments are conducted to demonstrate the efficacy of the proposed results.
UR - http://www.scopus.com/inward/record.url?scp=84928239694&partnerID=8YFLogxK
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U2 - 10.1007/978-3-642-28572-1_57
DO - 10.1007/978-3-642-28572-1_57
M3 - Conference contribution
AN - SCOPUS:84928239694
T3 - Springer Tracts in Advanced Robotics
SP - 823
EP - 837
BT - Experimental Robotics - The 12th International Symposium on Experimental Robotics
A2 - Khatib, Oussama
A2 - Kumar, Vijay
A2 - Sukhatme, Gaurav
PB - Springer Verlag
Y2 - 18 December 2010 through 21 December 2010
ER -