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Low-level joint control of a robotic manipulator using state-dependent parameter models

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Low-level joint control of a robotic manipulator using state-dependent parameter models. / Robertson, David; Taylor, C. James.

2012.

Research output: Contribution to conference - Without ISBN/ISSN Conference paper

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@conference{a754dc042d1b46daac70c7c6d3f95a0b,
title = "Low-level joint control of a robotic manipulator using state-dependent parameter models",
abstract = "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.",
keywords = "identification, state-dependent parameter, robotics, non-minimal state space",
author = "David Robertson and Taylor, {C. James}",
year = "2012",
language = "English",

}

RIS

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 -