A Comparison of Certain Quasi-Velocities Approaches in PD Joint Space Control

This paper presents a comparison of PD controls in joints space for serial manipulators whose dynamics is expressed in terms of two di erent kinds of quasi-velocities. Above mentioned dynamics was described in [1] and [2]. Robot dynamic algorithms in terms of so called normalized and unnormalized quasi-velocities [1] are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described by using vector-matrix notation. In the second work authors introduce an instantaneous eigenstructure quasi-velocity formulation as a result of numerical mass matrix factorization. Both PD controls were tested on a model of manipulator with two degrees of freedom. In this paper we adopt standard control algorithms known in robotic literature to a case when robot dynamics is formulated in terms of quasi-velocities.