Saturating stiffness control of robot manipulators with bounded inputs

María del Carmen Rodríguez-Liñán ; Marco Mendoza ; Isela Bonilla ; César A. Chávez-Olivares

International Journal of Applied Mathematics and Computer Science, Tome 27 (2017), p. 79-90 / Harvested from The Polish Digital Mathematics Library

Résumé

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Détail

Publié le : 2017-01-01
EUDML-ID : urn:eudml:doc:288097

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