A Dynamic Model Free Observer Based Output Feedback Tracking Control of Robot Manipulators in Task-Space
Conference paper > Full Text · 2018
Authors: Necati Cobanoglu, Kamil Cetin, Enver TATLICIOĞLU, Erkan Zergeroglu
American Control Conference, United States, Wisconsin, Milwaukee, International, Verbal, Full Text, 2018-2018, pp 2121-2126
Summary
This paper addresses the output feedback end-effector position tracking control of robotic manipulators. Specifically, via the design of a novel dynamic model independent observer constructed through a Lyapunov type analysis and under the assumption that the manipulator Jacobian is always invertible, we propose a model based nonlinear controller which ensures asymptotic robot end-effector tracking without the need of joint and/or task space velocity measurements. Simulation results are included to illustrate the performance and effectiveness of the proposed method.