NDLI: Manipulator maneuvering by feedback linearization with saturating inputs

Content Provider	IEEE Xplore Digital Library
Author	Dwyer III, T. Fadali, M. Ning Chen Lee, G.
Copyright Year	1985
Description	Author affiliation: Colorado State University, Fort Collins, Colorado (Dwyer, T., III)
Abstract	Recent research on fast exact maneuvering strategies for manipulators has employed acceleration commands as control variables. The forces and torques can then be synthesized, either in software or with dedicated hard-wired interfaces. Among the difficulties that occur when such maneuver techniques are employed is the fact that actuator saturation constraints are related to acceleration bounds in a state-dependent way. Recent work in the literature relies on generating a correction to the acceleration inputs, by pointwise constrained acceleration error minimization. This technique works best for infinite time horizons and highly coupled manipulator geometries, but not for terminal control or when the forces and torques enter the dynamics multiplied by a diagonal control influence matrix. An alternative technique discussed in the present paper consists of running actuators at saturation levels between sampling instants, then re-initializing an exact optimal regulator algorithm whenever the inputs drop below saturation range. Examples of such a maneuver strategy are given, both for asymptotic regulation and terminal control.
Starting Page	947
Ending Page	953
File Size	546359
Page Count	7
File Format	PDF
DOI	10.1109/ROBOT.1985.1087287
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1985-03-25
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Feedback Acceleration Actuators Manipulator dynamics Force control Torque control Error correction Geometry Sampling methods Regulators
Content Type	Text
Resource Type	Article

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