Cartesian control of robotic manipulators with joint compliance

1 July 1987

journal article
research article
Published by Cambridge University Press (CUP) in Robotica

Vol. 5 (3) , 207-215
https://doi.org/10.1017/s026357470001585x

Abstract

SUMMARY An efficient on-line scheme for computing the inverse joint solution of robotic manipulators is combined with an improved formulation of robust, non-linear feedback control in joint space to produce a realizable Cartesian control scheme. Parametric uncertainties in the robot model are highlighted by the inclusion of compliance at each joint. Simulation results for a two link, coupled manipulator demonstrate that this Cartesian control enables the tip of the arm to track the demanded trajectory with arbitrarily small error in response to realistic actuator torques.

Keywords

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