Control of robotic manipulators with input-output delays: An experimental verification

Yen Chen Liu, Nikhil Chopra

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


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.

Original languageEnglish
Title of host publicationExperimental Robotics - The 12th International Symposium on Experimental Robotics
EditorsOussama Khatib, Vijay Kumar, Gaurav Sukhatme
PublisherSpringer Verlag
Number of pages15
ISBN (Electronic)9783642285714
Publication statusPublished - 2014
Event12th International Symposium on Experimental Robotics, ISER 2010 - New Delhi, Agra, India
Duration: 2010 Dec 182010 Dec 21

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other12th International Symposium on Experimental Robotics, ISER 2010
CityNew Delhi, Agra

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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