DocumentCode
1604893
Title
Improvements on saturating PD with gravity compensation control for robotic manipulators
Author
Zhao, Dongya ; Li, Shaoyua ; Gao, Feng
Author_Institution
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
fYear
2009
Firstpage
1497
Lastpage
1502
Abstract
Three novel saturating PD with gravity compensation control laws are developed for robotic manipulators in this study. By employing nonlinear proportional control, the proposed approaches extend existing saturating PD control for robotic manipulators. Stability analysis and simulations are presented to validate the proposed approach.
Keywords
PD control; compensation; manipulators; nonlinear control systems; stability; gravity compensation control; nonlinear proportional control; robotic manipulator; saturating PD control; stability analysis; Actuators; Adaptive control; Convergence; Gravity; Manipulators; Output feedback; PD control; Programmable control; Robot control; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Asian Control Conference, 2009. ASCC 2009. 7th
Conference_Location
Hong Kong
Print_ISBN
978-89-956056-2-2
Electronic_ISBN
978-89-956056-9-1
Type
conf
Filename
5276329
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