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Motion tracking in robotic manipulators in presence of delay in measurements

Bahrami, S ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1109/ROBOT.2010.5509289
  3. Publisher: 2010
  4. Abstract:
  5. Time-delay in sensor measurements can be a frequent cause of instability and performance degradation in a robotic system. In this paper, motion tracking of rigid manipulators in presence of constant and known delay in sensors is investigated. By using non-minimal model of a manipulator, a dynamically smooth controller based on the Linear Matrix Inequality (LMI) approach is proposed which guarantees asymptotic tracking of desired joint angles and velocities in presence of delayed measurements. For a given controller the maximum amount of delay that preserves system stability is computed by solving an LMI optimization and also by numerical simulations, and the results are compared. Finally, a simulation example is presented that illustrates the performance of the proposed controller in comparison with standard motion controllers
  6. Keywords:
  7. Asymptotic tracking ; Delayed measurements ; Joint angle ; Linear matrix inequality approach ; LMI optimization ; Minimal model ; Motion controller ; Motion tracking ; Numerical simulation ; Performance degradation ; Rigid manipulators ; Robotic manipulators ; Robotic systems ; Sensor measurements ; Simulation example ; Controllers ; Frequency selective fading ; Linear matrix inequalities ; Manipulators ; Robots ; Sensors ; System stability ; Robotics
  8. Source: Proceedings - IEEE International Conference on Robotics and Automation, 3 May 2010 through 7 May 2010, Anchorage, AK ; 2010 , Pages 3884-3889 ; 10504729 (ISSN) ; 9781424450381 (ISBN)
  9. URL: http://ieeexplore.ieee.org/document/5509289