Romansy 13 pp 215-222 | Cite as

A Comparison Between PD Controls in Terms of Normalized and Unnormalized Quasi-Velocities

  • Krzysztof Kozłowski
  • Przemysław Herman
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


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 Words

Robots PD control spatial algebra Cartesian space quasi-velocities gravitational forces. 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Canudas de Wit C., Siciliano B., Bastin G.(Eds). (1996) Theory of Robot Control. Springer-Verlag Ltd., London, 1996.zbMATHGoogle Scholar
  2. Herman P. (1997) New Robot Control Algorithms Using Articulated Body Inertia. Ph.D. Dissertation, Poznan University of Technology (in Polish).Google Scholar
  3. Jain A., Rodriguez G., Diagonalized Lagrangian Robot Dynamics. In IEEE Transactions on Robotics and Automation, Vol.11, No 4. pp.571–584.Google Scholar
  4. Kozlowski K., Robot Dynamics Models in Terms of Generalized and Quasi-Coordinates: a Comparison. In Appl. Math. and Comp. Sci.,Vol.5, No 2. pp.305–328.Google Scholar
  5. Sciavicco L., Siciliano B., Modeling and Control of Robot Manipulators. The McGraw-Hill Companies, Inc., New York.Google Scholar
  6. Niemeyer G., Slotine J.-J., Performance in Adaptive Manipulator Control. In The Int. Journal of Robotics Research, Vol. 10, No. 2. 1991 pp. 149–161.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Krzysztof Kozłowski
    • 1
  • Przemysław Herman
    • 1
  1. 1.Chair of Control, Robotics, and Computer SciencePoznań University of TechnologyPoznańPoland

Personalised recommendations