In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.
Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received April 19, 2013; final manuscript received October 16, 2013; published online December 16, 2013. Assoc. Editor: Alexander Leonessa.
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Ouyang, P. R., and Pano, V. (December 16, 2013). "Position Domain Synchronization Control of Multi-Degrees of Freedom Robotic Manipulator." ASME. J. Dyn. Sys., Meas., Control. March 2014; 136(2): 021017. https://doi.org/10.1115/1.4025755
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