A new set-point controller with bounded torques for robotmanipulators
Santibanez, V.; Kelly, R.; Reyes, F.
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 1, Feb 1998 Page(s):126 - 133
Digital Object Identifier   10.1109/41.661313
Summary:In this paper, we propose a simple controller for set-point control of robot manipulators. The structure of this controller is composed by a saturated proportional-saturated derivative feedback plus gravity compensation. Such a control scheme has two practical features. First, for all desired joint positions, this controller delivers torques inside prescribed limits according to the actuator capability and second, the steady-state position errors owing to static friction can be arbitrarily reduced. In the case of absence of friction, we show global asymptotic stability of the closed-loop system. The performance of the proposed controller is illustrated via experiments on a two-degrees-of-freedom (2-DOF) direct-drive robot system

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