Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements (I)

Luis Pablo Borja*, Jochem van der Veen, Jacquelien M.A. Scherpen

*Corresponding author for this work

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This paper proposes 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 construction 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.
Original languageEnglish
Title of host publicationProceedings of the he 60th IEEE conference on Decision and Control (CDC 2021)
Number of pages5
ISBN (Print)978-1-6654-3659-5
Publication statusPublished - 1-Feb-2022
EventThe 60th IEEE conference on Decision and Control (CDC 2021) - Austin, Texas, United States
Duration: 13-Dec-202117-Dec-2021


ConferenceThe 60th IEEE conference on Decision and Control (CDC 2021)
Country/TerritoryUnited States
CityAustin, Texas

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