Inverse Jacobian regulator for robot manipulator: Theory and experiment

被引：3
|
作者：
Cheah, CC [1 ]
Zhao, Y [1 ]
机构：
[1] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源：
2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5 | 2004年
关键词：
D O I：
10.1109/CDC.2004.1430213
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, inverse Jacobian regulators using generalized inverse Jacobian matrix are presented and the stability problems are formulated and solved. The results in this paper provide an answer to the open problem on why the inverse Jacobian setpoint control system can be stabilized even though the inverse Jacobian matrix is structurally very different from transpose Jacobian matrix. A new inverse Jacobian regulator with adaptive gravity compensation is also proposed. The extension of the inverse Jacobian regulator to force control problem is also shown. Since generalized inverse Jacobian matrix is used, the proposed controllers can be applied to redundant robots. The theoretical results for free motion control are verified experimentally by implementing the inverse Jacobian regulators on an industrial robot, SONY SCARA robot.
引用
收藏
页码：1252 / 1257
页数：6
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