Abstract

MORALES, B.  and  CARELLI, R.. Robot control with inverse dynamics and non-linear gains. Lat. Am. appl. res. [online]. 2003, vol.33, n.4, pp.393-397. ISSN 0327-0793.

A motion control strategy for robot manipulators, with inverse dynamics and non-linear proportional-derivative gains is presented. On account of a possible interaction of the robot with the environment, impedance is incorporated to modify the robot's motion references according to the interaction force. The gains, that are non-linear state functions, allow to improve robot performance and to prevent actuator saturation. It is proved that an asymptotically stable closed-loop system is obtained with the proposed controller. Simulation results on a 3-dof robot show a good performance of the controller with variable gains, as opposed to that of a constant gain PD controller.

Keywords : Robotics; Non-Linear Systems; Motion Control; Impedance Control.

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