A DEVELOPMENT FRAMEWORK FOR COLLABORATIVE ROBOTS USING FEEDBACK CONTROL

Abstract

Abstract: Collaborative robots represent a nonlinear system having nonholonomic constraints. Due to nonholonomic constraints, the collaborative robots are not point stabilizable using continuous time-invariant feedback. Therefore, linear control is ineffective so that innovative design techniques are required. One such possible technique is feedback linearization. This paper proposes a kinematically compatible framework for the development of nonholonomic collaborative robots using feedback control techniques. It presents a comparative assessment of various standard feedback control strategies. The nonholonomic collaborative robotic system is modeled using Simulink and the results are presented confirming the performance of various controllers. From the simulation results, the nonlinear feedback control strategy improves the system performance. Furthermore, the nonlinear control strategy globally-asymptotically stabilizes the system compared to the other feedback strategies. The work presented here is an initial study concerning the applicability of kinematic based control on collaborative robots. Copyright © 2007 IFA