Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements
This work addresses control challenges for robotic arms in practical scenarios with limited sensors and actuator constraints, representing an incremental improvement in control design.
The authors tackled trajectory tracking for robotic arms under input saturation and without velocity measurements, proposing a passivity-based control approach that avoids observers and simplifies analysis, with experimental validation on the Philips Experimental Robot Arm showing effectiveness.
In this work, we propose 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 identification 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.