Research output: Contribution to conference - Without ISBN/ISSN › Conference paper
Research output: Contribution to conference - Without ISBN/ISSN › Conference paper
}
TY - CONF
T1 - Low-level joint control of a robotic manipulator using state-dependent parameter models
AU - Robertson, David
AU - Taylor, C. James
PY - 2012
Y1 - 2012
N2 - This article develops state-dependent parameter (SDP) control systems for the hydraulically actuated manipulators of a mobile nuclear decommissioning robot. The state-dependent variable is a delayed voltage signal associated with the time-varying gain of the system. The latter can cause undesirable joint movements when the device is regulated using linear control algorithms. For the preliminary experiments reported here, the basic SDP algorithm (which requires stability assessment by simulation) is utilised, since this is simpler to implement than some alternatives. Nonetheless, experimental data shows that the SDP design more closely follows the joint angle commands than the equivalent linear algorithm.
AB - This article develops state-dependent parameter (SDP) control systems for the hydraulically actuated manipulators of a mobile nuclear decommissioning robot. The state-dependent variable is a delayed voltage signal associated with the time-varying gain of the system. The latter can cause undesirable joint movements when the device is regulated using linear control algorithms. For the preliminary experiments reported here, the basic SDP algorithm (which requires stability assessment by simulation) is utilised, since this is simpler to implement than some alternatives. Nonetheless, experimental data shows that the SDP design more closely follows the joint angle commands than the equivalent linear algorithm.
KW - identification
KW - state-dependent parameter
KW - robotics
KW - non-minimal state space
M3 - Conference paper
ER -