TY - GEN
T1 - Bounded torque control for robot manipulators subject to joint velocity constraints
AU - Ngo, Khoi B.
AU - Mahony, Robert
PY - 2006
Y1 - 2006
N2 - This paper presents a bounded torque control design to solve the set-point regulation problem for robot manipulators subject to joint velocity constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The structure of the modified control Lyapunov function is reminiscent of those used in the artificial potential field method. The resulting controllers are modified Proportional-Derivative controllers which are simple, intuitive, and can easily be implemented in practice. In addition, asymptotic stability of the closed-loop system is guaranteed, all joint velocity constraints are strictly satisfied for all time, and the demanded torque input is bounded in norm, irrespective of the initial condition. The effectiveness of the proposed control design is demonstrated through simulations on a 2-link planar manipulator.
AB - This paper presents a bounded torque control design to solve the set-point regulation problem for robot manipulators subject to joint velocity constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The structure of the modified control Lyapunov function is reminiscent of those used in the artificial potential field method. The resulting controllers are modified Proportional-Derivative controllers which are simple, intuitive, and can easily be implemented in practice. In addition, asymptotic stability of the closed-loop system is guaranteed, all joint velocity constraints are strictly satisfied for all time, and the demanded torque input is bounded in norm, irrespective of the initial condition. The effectiveness of the proposed control design is demonstrated through simulations on a 2-link planar manipulator.
UR - http://www.scopus.com/inward/record.url?scp=33845616176&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2006.1641153
DO - 10.1109/ROBOT.2006.1641153
M3 - Conference contribution
SN - 0780395069
SN - 9780780395060
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 7
EP - 12
BT - Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
T2 - 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Y2 - 15 May 2006 through 19 May 2006
ER -