TY - GEN
T1 - Operational space control for a puma robot
AU - Salinas, Sergio Alexander
AU - Larrarte, Eliana Aguilar
AU - Albán, Andrés Vivas
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
KW - Computed torque control
KW - Joint space control
KW - Operational space control
KW - Robot control
UR - http://www.scopus.com/inward/record.url?scp=37049009702&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2007.4303890
DO - 10.1109/ICMA.2007.4303890
M3 - Ponencia publicada en las memorias del evento con ISBN
AN - SCOPUS:37049009702
SN - 1424408288
SN - 9781424408283
T3 - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
SP - 2183
EP - 2188
BT - Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
T2 - 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Y2 - 5 August 2007 through 8 August 2007
ER -