A Comparison Between PD Controls in Terms of Normalized and Unnormalized Quasi-Velocities
This paper presents a new controls for manipulators whose dynamics is expressed in terms of quasi-velocities Jain A., Rodriguez G. (1995). In contrary to previous algorithms Herman P. (1997) these controls consider also gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described by using vector-matrix notation. The considered controls allow to achieve end point of trajectory in Cartesian space. The controls were tested on a two degrees of freedom manipulator.
Key WordsRobots PD control spatial algebra Cartesian space quasi-velocities gravitational forces.
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