TY - JOUR
T1 - On tracking control of rigid-joint robots with only position measurements
AU - Dirksz, D.A.
AU - Scherpen, J.M.A.
PY - 2013
Y1 - 2013
N2 - In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.
AB - In this letter, we present tracking control with only position measurements for rigid-joint robots, by applying the canonical transformation theory for port-Hamiltonian systems. We show that besides giving the same results as presented in the literature for Euler-Lagrange systems, the canonical transformation theory also justifies a Coriolis matrix based on the desired velocities. Furthermore, we show how the initial conditions of the controller can be tuned in order to improve transient performance. Finally, we validate our results on a simple experimental setup.
U2 - 10.1109/TCST.2012.2204886
DO - 10.1109/TCST.2012.2204886
M3 - Article
SN - 1063-6536
VL - 21
SP - 1510
EP - 1513
JO - IEEE Transactions on Control Systems Technology
JF - IEEE Transactions on Control Systems Technology
IS - 4
ER -