NDLI: Some remarks on two quasi-velocities approaches in PD joint space control

Content Provider	IEEE Xplore Digital Library
Author	Herman, P. Kozlowski, K.
Copyright Year	2001
Description	Author affiliation: Control, Robotics, & Comput. Sci., Poznan Univ. of Technol., Poland (Herman, P.)
Abstract	This paper presents some remarks on PD control in joint space for serial manipulators whose dynamics is expressed in terms of two different kind of quasi-velocities. Robot dynamics algorithms in terms of so called normalized 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 making use of vector-matrix notation. In the second work authors introduce an instantaneous eigenstructure quasi-velocity formulation as a result of numerical mass matrix factorization. Both PD controls were tested on a model of manipulator with two degrees of freedom. In this paper we adopt standard PD control known in robotic literature to a case when robot dynamics is formulated in terms of quasi-velocities.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	1888
Ending Page	1893
File Size	500227
Page Count	6
File Format	PDF
ISBN	0780366123
DOI	10.1109/IROS.2001.976349
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2001-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	PD control Manipulator dynamics Space technology Differential equations Orbital robotics Robot control Matrix decomposition Computer science Heuristic algorithms Testing
Content Type	Text
Resource Type	Article

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