Simulation study of PD robot Cartesian control

Shir-Kuan Lin

doi:10.1109/ROBOT.1989.100147

Simulation study of PD robot Cartesian control

Shir-Kuan Lin^*

^*Corresponding author for this work

Department of Electrical and Computer Engineering

Research output: Contribution to conference › Paper › peer-review

1 Scopus citations

Abstract

The author discusses the superiority of Euler parameters over other methods for representing the orientation error in PD (proportional-derivative) robot Cartesian control. A simulation study has been undertaken to investigate the convergent behavior of PD robot Cartesian control with Euler parameters. The control scheme requires large actuator forces for large orientation deviation. When the rotational angle of the orientation error approahces ±π, the required input actuator forces approach infinity, with the controller breaking down. A simple method for setting limitations on the orientation error and the velocity of the end-effector is introduced to overcome the singularity at ±π and the actuator force bounds. The simulation results support the proposed method.

Original language	English
Pages	1221-1226
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.1989.100147
State	Published - 14 May 1989
Event	IEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA Duration: 14 May 1989 → 19 May 1989

Conference

Conference	IEEE International Conference on Robotics and Automation - 1989
City	Scottsdale, AZ, USA
Period	14/05/89 → 19/05/89

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10.1109/ROBOT.1989.100147

Cite this

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abstract = "The author discusses the superiority of Euler parameters over other methods for representing the orientation error in PD (proportional-derivative) robot Cartesian control. A simulation study has been undertaken to investigate the convergent behavior of PD robot Cartesian control with Euler parameters. The control scheme requires large actuator forces for large orientation deviation. When the rotational angle of the orientation error approahces ±π, the required input actuator forces approach infinity, with the controller breaking down. A simple method for setting limitations on the orientation error and the velocity of the end-effector is introduced to overcome the singularity at ±π and the actuator force bounds. The simulation results support the proposed method.",

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year = "1989",

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doi = "10.1109/ROBOT.1989.100147",

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AB - The author discusses the superiority of Euler parameters over other methods for representing the orientation error in PD (proportional-derivative) robot Cartesian control. A simulation study has been undertaken to investigate the convergent behavior of PD robot Cartesian control with Euler parameters. The control scheme requires large actuator forces for large orientation deviation. When the rotational angle of the orientation error approahces ±π, the required input actuator forces approach infinity, with the controller breaking down. A simple method for setting limitations on the orientation error and the velocity of the end-effector is introduced to overcome the singularity at ±π and the actuator force bounds. The simulation results support the proposed method.

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Simulation study of PD robot Cartesian control

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