• norsk
    • English
  • norsk 
    • norsk
    • English
  • Logg inn
Vis innførsel 
  •   Hjem
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • Vis innførsel
  •   Hjem
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • Vis innførsel
JavaScript is disabled for your browser. Some features of this site may not work without it.

Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems

Bjerkeng, Magnus Christian; Falco, Pietro; Natale, Ciro; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
Published version
Thumbnail
Åpne
Stability_Analysis_of_a_Hierarchical_Architecture_.pdf (690.1Kb)
Permanent lenke
http://hdl.handle.net/11250/2469215
Utgivelsesdato
2014
Metadata
Vis full innførsel
Samlinger
  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [21000]
Originalversjon
IEEE Transactions on robotics. 2014, 30 (3), 745-753.   10.1109/TRO.2013.2294882
Sammendrag
The stability of discrete time kinematic sensor-based control of robots is investigated in this paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic system is considered. The inner loop is composed of a servo-level joint controller and higher level kinematic feedback is performed in the outer loop. Stability results derived in this paper are of interest in several applications including visual servoing problems, redundancy control, and coordination/synchronization problems. The stability of the overall system is investigated taking into account input/output delays and the inner loop dynamics. A necessary and sufficient condition that the gain of the outer feedback loop has to satisfy to ensure local stability is derived. Experiments on a Kuka K-R16 manipulator have been performed in order to validate the theoretical findings on a real robotic system and show their practical relevance.
Utgiver
Institute of Electrical and Electronics Engineers (IEEE)
Tidsskrift
IEEE Transactions on robotics

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit
 

 

Bla i

Hele arkivetDelarkiv og samlingerUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifterDenne samlingenUtgivelsesdatoForfattereTitlerEmneordDokumenttyperTidsskrifter

Min side

Logg inn

Statistikk

Besøksstatistikk

Kontakt oss | Gi tilbakemelding

Personvernerklæring
DSpace software copyright © 2002-2019  DuraSpace

Levert av  Unit