Remarks regarding PD joint space control of manipulators using the eigenfactor quasi-coordinate velocity vector

Abstract

This paper presents some remarks concerning PD control in joint space of a manipulator in terms of eigenfactor quasi-coordinate velocity (EQV). Presented control is new in a sense that it is derived in terms of variables based on the eigenvalues and eigenvectors of the manipulator mass matrix. New control was tested on 3-DOF 3D DDArm robot. This paper presents also a comparison between PD control in joint space for serial manipulators whose dynamics is expressed in classical form and using EQV vector We show differences between classical control and the new control which uses these inertial quasi-velocities.