Abstract
A kinetic energy approach to PD control in joint space of a manipulator in terms of the eigenfactor quasi-coordinate velocity (EQV) vector is considered in this paper. The modified PD controller which contains quantities resulting from decomposition of a manipulator mass matrix is proposed. The obtained equations of motion are based on the eigenvalues and eigenvectors of the mass matrix (Junkins, J. L. and Schaub, H. [7]. It is shown that utilizing the EQV vector one can determine directly the kinetic energy of the manipulator and at the same time realize PD control in its joint space. This energy-based strategy gives an interesting insight into position control. The controller presented here was tested in simulation on a 3 d.o.f. direct drive arm manipulator and via experiment on a 2 d.o.f. manipulator. The results confirmed that one can directly determine the kinetic energy for the total manipulator as well for its each joint. Additionally, time response of the system under EQV controller is faster than for the classical controller if mechanical coupling are strong.
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