Robust path following for robot manipulators

Rajan Gill, Dana Kulic, Christopher Nielsen

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

5 Citations (Scopus)

Abstract

Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. This paper implements a path following controller, based on transverse feedback linearization (TFL), which guarantees invariance of the path to be followed. The coordinate and feedback transformation employed allows one to easily design control laws to generate arbitrary desired motions on the path for the closed-loop system. The approach is applied to an uncertain and simplified model of a robot manipulator for which none of the dynamic parameters are measured. The controller is made robust to modelling uncertainties using Lyapunov redesign. The robustified controller is tested on a 4-degree-of-freedom (4-DOF) manipulator with a combination of revolute and linear actuated links. The experimental results show a substantial improvement when using the robust controller for path following versus standard state feedback.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherIEEE, Institute of Electrical and Electronics Engineers
Pages3412-3418
Number of pages7
ISBN (Print)9781467363587
DOIs
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 3 Nov 20138 Nov 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
CountryJapan
CityTokyo
Period3/11/138/11/13

Cite this