Homogeneous set point control for serial manipulators in terms of normalized quasi-velocities

摘要

In this paper set point control using the method given in [1] is presented. It is shown that by proper choosing of the Lyapunov function candidate a dynamic system with appropriate feedback is asymptotically globally stable in joint space. Presented control is new in the sense that it is derived in terms of normalized quasi-velocities described by Jain and Rodriguez. New control was tested on a model of manipulator with two degrees of freedom. This paper presents also a comparison with PD control in joints space for serial manipulators whose dynamics is expressed in classical form [6] and PD normalized quasi-velocity control [4]. Robot dynamic algorithms in terms of so called normalized quasi-velocities [1] are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described using vector-matrix notation. We show differences between classical PD control and the new set point control which uses quasi-velocities.