TY - GEN
T1 - Set-point control with gravity compensation for robots with input/output delays
AU - Liu, Yen Chen
AU - Chopra, Nikhil
PY - 2012
Y1 - 2012
N2 - Set-point control problem for robotic manipulators when signals are exchanged via a delayed communication channel is studied in this paper. The gravitational effects, which were not considered or were assumed to be pre-compensated in the previous research, are considered in this paper. Using an appropriately defined controller with gravity compensation, it is first shown that simply utilizing the scattering variables can stabilize the closed-loop system in the presence of constant delays; however, position regulation cannot be guaranteed. Therefore, we study a new control algorithm where explicit position feedback, in conjunction with scattering variables is used, to guarantee both stability and tracking performance. Moreover, the efficacy of this architecture to handle time-varying input/output delays is also demonstrated. The proposed algorithm is numerically validated on a two-degree-of-freedom manipulator for both constant and time-varying delays.
AB - Set-point control problem for robotic manipulators when signals are exchanged via a delayed communication channel is studied in this paper. The gravitational effects, which were not considered or were assumed to be pre-compensated in the previous research, are considered in this paper. Using an appropriately defined controller with gravity compensation, it is first shown that simply utilizing the scattering variables can stabilize the closed-loop system in the presence of constant delays; however, position regulation cannot be guaranteed. Therefore, we study a new control algorithm where explicit position feedback, in conjunction with scattering variables is used, to guarantee both stability and tracking performance. Moreover, the efficacy of this architecture to handle time-varying input/output delays is also demonstrated. The proposed algorithm is numerically validated on a two-degree-of-freedom manipulator for both constant and time-varying delays.
UR - http://www.scopus.com/inward/record.url?scp=84885926286&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84885926286&partnerID=8YFLogxK
U2 - 10.1115/DSCC2012-MOVIC2012-8772
DO - 10.1115/DSCC2012-MOVIC2012-8772
M3 - Conference contribution
AN - SCOPUS:84885926286
SN - 9780791845295
T3 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
SP - 467
EP - 474
BT - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
T2 - ASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Y2 - 17 October 2012 through 19 October 2012
ER -