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A New Architecture for Set-Point Control of Robotic Manipulators With Time-Varying Input/Output Delays

[+] Author Affiliations
Yen-Chen Liu, Nikhil Chopra

University of Maryland, College Park, College Park, MD

Paper No. DSCC2011-6188, pp. 129-136; 8 pages
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control
  • ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 2
  • Arlington, Virginia, USA, October 31–November 2, 2011
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5476-1
  • Copyright © 2011 by ASME


In this paper we study the classical set-point control problem for rigid robots when there are time-varying delays in the input-output channels. It has been demonstrated earlier that scattering variables together with additional gains can be utilized to stabilize the closed loop system in the presence of time-varying delays. However, this architecture is not able to guarantee asymptotic regulation to the desired configuration, and the stability depends on the maximum rate of change of the time-varying delays in the communication. Hence, in this paper, we present a new architecture where scattering variables and position feedback are utilized to guarantee stability and asymptotic convergence of the regulation error to the origin while simultaneously relaxing a significant assumption on the rate of change of delays. The proposed algorithm is numerically verified on a two-degree-of-freedom manipulator.

Copyright © 2011 by ASME
Topics: Delays , Manipulators



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