Normalised-generalised-velocity-component-based controller for a rigid serial manipulator

摘要

A controller based on first-order decoupled equations of motion for application to rigid serial manipulators is presented. The equations result from a modification of equations expressed in generalised velocity components form. It is shown that using the proposed quasi-velocities i.e. normalised generalised velocity components (NGVCs) leads to differential equations that contain the identity mass matrix (instead of a diagonal matrix). Using the proposed controller and equations written in terms of NGVCs it is possible to obtain information on the system dynamics. The considered controller is stable in the Lyapunov sense. Experimental results obtained on a two-degree-of-freedom manipulator illustrate the effectiveness of the proposed technique.