Abstract
A motion control scheme is presented that allows for controller design directly in terms of task specific cartesian variables, rather than in joint variables. The overall control structure is separated into a discrete-time position controller plus an underlying dynamics compensator which assures the extended cartesian plant - the manipulator and the dynamics compensator - to behave like a set of decoupled unit masses in cartesian space. The cartesian compensator matrices are computed based on a model reference adaptive control scheme rather than using the explicit dynamical equations. The control structure was tested successfully in simulations and experiments for a three degrees of freedom high speed robot.
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© 1989 Springer-Verlag Berlin Heidelberg
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Faessler, H. (1989). Robot Control in Cartesian Space with Adaptive Nonlinear Dynamics Compensation. In: Schweitzer, G., Mansour, M. (eds) Dynamics of Controlled Mechanical Systems. International Union of Theoretical and Applied Mechanics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83581-0_17
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DOI: https://doi.org/10.1007/978-3-642-83581-0_17
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-83583-4
Online ISBN: 978-3-642-83581-0
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