Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements

P. Borja; J. Van Der Veen; J. M.A. Scherpen

doi:10.1109/CDC45484.2021.9683112

Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements

P. Borja, J. Van Der Veen, J. M.A. Scherpen

Learning & Autonomous Control

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

2 Citations (Scopus)

50 Downloads (Pure)

Abstract

This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the construction of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.

Original language	English
Title of host publication	Proceedings of the 60th IEEE Conference on Decision and Control, CDC 2021
Publisher	IEEE
Pages	2434-2439
ISBN (Electronic)	978-1-6654-3659-5
DOIs	https://doi.org/10.1109/CDC45484.2021.9683112
Publication status	Published - 2021
Event	60th IEEE Conference on Decision and Control, CDC 2021 - Austin, United States Duration: 13 Dec 2021 → 17 Dec 2021

Conference

Conference	60th IEEE Conference on Decision and Control, CDC 2021
Country/Territory	United States
City	Austin
Period	13/12/21 → 17/12/21

Bibliographical note

Accepted Author Manuscript

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10.1109/CDC45484.2021.9683112

VEENBOR_13Accepted author manuscript, 367 KB

Cite this

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title = "Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements",

abstract = "This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the construction of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm. ",

author = "P. Borja and {Van Der Veen}, J. and Scherpen, {J. M.A.}",

note = "Accepted Author Manuscript; 60th IEEE Conference on Decision and Control, CDC 2021 ; Conference date: 13-12-2021 Through 17-12-2021",

year = "2021",

doi = "10.1109/CDC45484.2021.9683112",

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Borja, P, Van Der Veen, J & Scherpen, JMA 2021, Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements. in Proceedings of the 60th IEEE Conference on Decision and Control, CDC 2021. IEEE, pp. 2434-2439, 60th IEEE Conference on Decision and Control, CDC 2021, Austin, United States, 13/12/21. https://doi.org/10.1109/CDC45484.2021.9683112

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T1 - Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements

AU - Borja, P.

AU - Van Der Veen, J.

AU - Scherpen, J. M.A.

N1 - Accepted Author Manuscript

PY - 2021

Y1 - 2021

N2 - This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the construction of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.

AB - This paper proposes a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the construction of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.

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U2 - 10.1109/CDC45484.2021.9683112

DO - 10.1109/CDC45484.2021.9683112

M3 - Conference contribution

AN - SCOPUS:85126029824

SP - 2434

EP - 2439

BT - Proceedings of the 60th IEEE Conference on Decision and Control, CDC 2021

PB - IEEE

T2 - 60th IEEE Conference on Decision and Control, CDC 2021

Y2 - 13 December 2021 through 17 December 2021

ER -

Trajectory Tracking for Robotic Arms with Input Saturation and only Position Measurements

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