Scheduled System Maintenance:
Some services will be unavailable Sunday, March 29th through Monday, March 30th. We apologize for the inconvenience.
By Topic

Global positioning of robot manipulators with mixed revolute and prismatic joints

Sign In

Full text access may be available.

To access full text, please use your member or institutional sign in.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Kasac, J. ; Fac. of Mech. Eng. & Naval Archit., Zagreb Univ., Croatia ; Novakovic, B. ; Majetic, D. ; Brezak, D.

The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this note, a class of globally stable controllers for robot manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear proportional-integral-derivative (PID) controller. By using Lyapunov's direct method, the explicit conditions on the controller parameters to ensure global asymptotic stability are obtained.

Published in:

Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 6 )