论文标题
具有输入饱和和仅位置测量的机器人臂的轨迹跟踪
Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
论文作者
论文摘要
在这项工作中，我们提出了一种基于被动性的控制方法，该方法解决了一类机械系统的轨迹跟踪问题，该系统包括广泛的机器人臂。所得的控制器可以自然饱和，并且不需要速度测量。此外，所提出的方法不需要实施观察者，闭环系统的结构允许识别Lyapunov函数，从而简化了收敛性分析。为了证实该方法的有效性，我们使用飞利浦实验机器人组进行实验。
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the identification of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.
