Variable Structure Control of Robot Manipulators in Cartesian Space with Efficient Computation

摘要

The predominant concern in control of a robot arm is to make the movement of the end-effector track desired motion. In this paper, a Cartesian Space (Operational Space) robot controller which uses the Newton Euler (NE) formulation is presented. The control is designed by the model based Cartesian Space computed torque technique (CTT) and Variable Structure System (VSS) theory. The cartesian space CTT linearizes and decouples robot dynamics in cartesian space, while the VSS component is utilized to eliminate effects of parameter uncertainty. The control can guarantee the convergence of trackign error, and the computation of this control when incorporating the NE form of the dynamics is outlined. Simulation results of this controller when applied to the first three joints of a PUMA 560 arm are presented.