A redesigned DCAL controller without velocity measurements: theory and experimentation

摘要

In this paper, a link position tracking controller is formulated for an n-link, rigid, revolute robot. The controller generates torque commands to the individual robot links based on adaptive estimates of the system parameters and measurements of link positions only. A filtering technique, based on the link position signals, is used to remove the need for velocity measurements. A complete development of the controller is presented along with a proof of semi-global asymptotic link position-velocity tracking performance. Experimental validation of the proposed controller on the Integrated Motion Inc. (IMI) two-link direct drive robot is also presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>