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A new set-point controller with bounded torques for robot manipulators

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3 Author(s)
Santibanez, Victor ; Inst. Tecnologico de la Laguna, Torreon Coahuila, Mexico ; Kelly, R. ; Reyes, F.

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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Industrial Electronics, IEEE Transactions on  (Volume:45 ,  Issue: 1 )