Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators

Mohamed Fayçal Khelfi (1) , Michel Zasadzinski (1) , Hugues Rafaralahy (1) , Edouard Richard (1) , Mohamed Darouach (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumed that only the joint angular positions are measured. The joint angular velocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and trajectory control. Sufficient conditions to ensure the closed-loop stability are given. Performances of the reduced-order observer used with these two control laws are illustrated in a simulation study of a two-degrees-of-freedom robot manipulator.

Mots clés: Robot manipulators; Reduced-order observers; Controller design; Asymptotic stability; Separation principle

Domaines: Automatique / Robotique

Mohamed Fayçal Khelfi, Michel Zasadzinski, Hugues Rafaralahy, Edouard Richard, Mohamed Darouach. Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators. Control Engineering Practice, 1996, 4 (7), pp.991-1000. ⟨hal-00143943⟩