Operational space control for a puma robot

Sergio Alexander Salinas, Eliana Aguilar Larrarte, Andrés Vivas Albán

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

2 Scopus citations

Abstract

This article shows a simple methodology to implement an operational space control on a 6-DOF arm robot. First, the model is linearized and decoupled by feedback, next a computed torque control scheme in the operational space is implemented with a Jacobian matrix calculus running within small sampling period, is exhibited. Major simulation results performed using numerical values of an industrial PUMA robot prove the effectiveness of the proposed approach. The performance of the operational space control and the widely used computed torque control in the joint space is compared. The simulated results are presented to illustrate the behavior of the control schemes with tracking performance and robustness with respect to external disturbances and errors in the dynamic model.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Pages2183-2188
Number of pages6
DOIs
StatePublished - 2007
Externally publishedYes
Event2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
Duration: 5 Aug 20078 Aug 2007

Publication series

NameProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007

Conference

Conference2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Country/TerritoryChina
CityHarbin
Period5/08/078/08/07

Keywords

  • Computed torque control
  • Joint space control
  • Operational space control
  • Robot control

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