A Model-Free Controller for Guaranteed Prescribed Performance Tracking of Both Robot Joint Positions and Velocities
Journal article, 2016

The problem of robot joint position and velocity tracking with prescribed performance guarantees is considered. The proposed controller is able to guarantee a prescribed transient and steady state behavior for the position and the velocity tracking errors without utilizing either the robot dynamic model or any approximation structures. Its performance is demonstrated and assessed via experiments with a KUKA LWR4+ arm.

Motion Control of Manipulators

Robust/Adaptive Control of Robotic Systems

Author

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control, Mechatronics

Dimitrios Papageorgiou

Aristotle University of Thessaloniki

Zoe Doulgeri

Aristotle University of Thessaloniki

IEEE Robotics and Automation Letters

2377-3766 (ISSN)

Vol. 1 1 267-273

Subject Categories

Robotics

DOI

10.1109/LRA.2016.2516245

More information

Latest update

11/25/2019