Control of robotic manipulators with input-output delays: An experimental verification

Abstract

In this paper we experimentally study recently developed control algorithms for robotic manipulators with input-output delays. Our previous work demonstrates that the scattering transformation can be used as an effective tool to address delay instability problems in robot control. Specifically, the classical PI controller can be modified to regulate the robotic manipulator in the presence of constant and time-varying input-output delays by using the scattering transformation. These results are validated in this paper through experiments on the PHANToM Omni device. Furthermore, by appropriately compensating for the gravitational and frictional forces, a model of the PHANToM Omni device, suitable for control implementation, is also developed. The implementation of the control algorithms is discussed, and experiments are conducted to demonstrate the efficacy of the proposed results.