A new set-point controller with bounded torques for robotmanipulators
Santibanez, V.
Kelly, R.
Reyes, F.
Inst. Tecnologico de la Laguna, Torreon Coahuila ;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Feb 1998
Volume: 45,
Issue: 1
On page(s): 126-133
ISSN: 0278-0046
References Cited: 21
CODEN: ITIED6
INSPEC Accession Number: 5830872
Digital Object Identifier: 10.1109/41.661313
Current Version Published: 2002-08-06
Abstract
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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