Towards remote control of planar redundant robotic manipulators

The problem of remote position control of a planar redundant manipulator is studied for the case of a 3dof Cartesian robot including disturbance forces at the end effector. The robotic manipulator controlled through a wireless network using the ZigBee protocol, imposing communication delays between the sensors and the controller, as well as between the controller and actuators. The kinetic model of the system is presented and a static feedback with dynamic precompensator controller involving time delays is proposed. Based on these two aspects the following four design goals are imposed: a) non-square I/O decoupling, b) D/O diagonalization, c) attenuation of the influence of the disturbances to the performance output, and d) balanced allotment of the steady state behavior of the redundant degrees of freedom. The design goals are proven to be satisfied and the solution of the controller matrices are derived.