In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated and do not require velocity measurements. Moreover, the proposed methodology does not require the implementation of observers, and the structure of the closed-loop system permits the identification of a Lyapunov function, which eases the convergence analysis. To corroborate the effectiveness of the methodology, we perform experiments with the Philips Experimental Robot Arm.
翻译:在这项工作中,我们提出了一种基于被动的控制方法,以解决由各种机器人武器组成的一类机械系统的轨迹跟踪问题。由此产生的控制器可以自然饱和,不需要速度测量。此外,拟议的方法不需要观察员执行,而闭环系统的结构允许确定一个Lyapunov功能,从而方便了趋同分析。为了证实这一方法的有效性,我们与Philips实验机器人臂进行了实验。