Abstract
This article presents a novel on-line optimal control for tracking tasks on redundant robot manipulators for which inverse kinematics is not required. The controller is composed by a stabilization Cartesian PID control plus a joint space optimal control, which is in charge of improving tracking performance. The joint space dynamic optimal control is based on the gradient flow approach with the robot dynamics as a constraint. The combination of both controllers is implemented in joint space, by considering the robot Jacobian, nonetheless for design of both controllers only direct kinematics and Cartesian errors are taken into account. Joint space controllers which are based on Cartesian errors commonly require the inverse kinematics of the robot, in our proposal the joint space optimal controller solves on line the inverse kinematics of the redundant robot by itself, thus an explicit inverse kinematics model of the robot is not needed. Furthermore the optimization control takes advantage of the redundancy of the robot to improve its performance. The paper presents experimental results with a three degree of freedom (dof) planar manipulator, showing that the optimal control part highly improves the tracking performance of the closed loop system.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
