A SET-POINT ROBOT CONTROLLER BY USING ONLY POSITION MEASUREMENTS

摘要

This paper considers the set-point robot control problem without use of joint velocity measurements. We propose a simple controller based on a linear PD feedback with gravity compensation, but instead of using velocity in the derivative term we introduce a filtering of joint positions. We prove that this modification, which avoids velocity measurement, preserves global asymptotic stability of the closed-loop system.