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Low-level joint control of a robotic manipulator using state-dependent parameter models

Robertson, David and Taylor, C. James (2012) Low-level joint control of a robotic manipulator using state-dependent parameter models. In: .

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Abstract

This article develops state-dependent parameter (SDP) control systems for the hydraulically actuated manipulators of a mobile nuclear decommissioning robot. The state-dependent variable is a delayed voltage signal associated with the time-varying gain of the system. The latter can cause undesirable joint movements when the device is regulated using linear control algorithms. For the preliminary experiments reported here, the basic SDP algorithm (which requires stability assessment by simulation) is utilised, since this is simpler to implement than some alternatives. Nonetheless, experimental data shows that the SDP design more closely follows the joint angle commands than the equivalent linear algorithm.

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: identification ; state-dependent parameter ; robotics ; non-minimal state space
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Departments: Faculty of Science and Technology > Engineering
ID Code: 58622
Deposited By: ep_importer_pure
Deposited On: 26 Sep 2012 09:07
Refereed?: No
Published?: Published
Last Modified: 01 Apr 2014 14:39
Identification Number:
URI: http://eprints.lancs.ac.uk/id/eprint/58622

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