Influence of sensor quantization on the control performance of robotics actuators

In this paper the effect of sensor quantization on the control performance of robotics actuators in the steady-state condition is considered. First, the existence of a limit cycle mode due to the limited sensor resolution in the systems with P-controller is shown. Because of the poor transient response of the P-controlled system the extension to the PD-controller is thereafter taken into consideration. A simple solution for limit cycles avoidance in terms of modification of controller structure is provided. The experimental data confirm the theoretical analysis for the robotics actuators.

[1]  John Kenneth Salisbury,et al.  Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects , 2006, IEEE Transactions on Robotics.

[2]  Allison M. Okamura,et al.  Effects of position quantization and sampling rate on virtual-wall passivity , 2005, IEEE Transactions on Robotics.

[3]  Alin Albu-Schäffer,et al.  DLR's torque-controlled light weight robot III-are we reaching the technological limits now? , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[4]  Thomas Hulin,et al.  Stability Boundary for Haptic Rendering: Influence of Damping and Delay , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[5]  Thomas Hulin,et al.  Stability Boundary for Haptic Rendering: Influence of Physical Damping , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Arthur Gelb,et al.  Multiple-Input Describing Functions and Nonlinear System Design , 1968 .

[7]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[8]  John Kenneth Salisbury,et al.  The effect of quantization and Coulomb friction on the stability of haptic rendering , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[9]  J. Edward Colgate,et al.  Passivity of a class of sampled-data systems: Application to haptic interfaces , 1997, J. Field Robotics.

[10]  Thomas Hulin,et al.  Experimental Stability Analysis of a Haptic System , 2006 .