Open document
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General information |
| Author |
Reyes, Fernando; Cid, Jaime; Limon, Miguel Angel; Cervantes, Manuel |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
This paper addresses the problem of position
control for robot manipulators. A new control structure
with compensation for global position is presented. The
main contribution of this paper is to prove that the closed
loop system of the nonlinear robot dynamics model and
the proposed control algorithm is globally,
asymptotically stable and in agreement with Lyapunov’s
direct method and LaSalle’s invariance principle. Besides
this, the theoretical results in a real‐time experimental
comparison are also presented to show a comparison of
the performance between the square root type controller
and simple PD scheme on a three degrees‐of‐freedom
direct‐drive robot. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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