Robust path following for robot manipulators

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Author(s) Gill, Rajan J., Kulić, Dana, Nielsen, Christopher
Publication Type Conference Contributions, Publication Status: Published
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Title Robust path following for robot manipulators
Author(s) Gill, Rajan J.
Kulić, Dana
Nielsen, Christopher
Book Title IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Start Page 3412
End Page 3418
Publisher IEEE
Publication Place Piscataway, NJ
Publication Date 2013
Abstract Path following controllers make the output of a control system approach and traverse a pre-specified path with no a priori time-parametrization. This paper implements a path following controller, based on transverse feedback linearization (TFL), which guarantees invariance of the path to be followed. The coordinate and feedback transformation employed allows one to easily design control laws to generate arbitrary desired motions on the path for the closed-loop system. The approach is applied to an uncertain and simplified model of a robot manipulator for which none of the dynamic parameters are measured. The controller is made robust to modelling uncertainties using Lyapunov redesign. The robustified controller is tested on a 4-degree-of-freedom (4-DOF) manipulator with a combination of revolute and linear actuated links. The experimental results show a substantial improvement when using the robust controller for path following versus standard state feedback. Publication status: Published.
DOI 10.1109/IROS.2013.6696842
Event Name 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Event Location Tokyo, Japan
Event Date November 3-8, 2013
Document Type Conference Paper
Publication Status Published
Language English
Assigned Organisational Unit(s) 03758
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Source Database ID FORM-1449740726
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@inproceedings{Gll2013,
  author = "Gill, Rajan J. and Kuli{\'{c}}, Dana and Nielsen, Christopher",
  title = "{R}obust path following for robot manipulators",
  booktitle = "IROS 2013: New Horizon Conference Digest: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems",
  year = 2013,
  pages = "3412--3418",
  address = "Piscataway, NJ",
  publisher = "IEEE",
}


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