Operational space control for a puma robot

Sergio Alexander Salinas, Eliana Aguilar Larrarte, Andrés Vivas Albán

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma originalInglés
Título de la publicación alojadaProceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Páginas2183-2188
Número de páginas6
DOI
EstadoPublicada - 2007
Publicado de forma externa
Evento2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 - Harbin, China
Duración: 5 ago. 20078 ago. 2007

Serie de la publicación

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

Conferencia

Conferencia2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
País/TerritorioChina
CiudadHarbin
Período5/08/078/08/07

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