Title :
New position controllers for robot manipulators
Author :
Corona, Arturo ; Reyes, Fernando ; Flores, Guillermo ; Campos, Roberto
Author_Institution :
Fac. de Ciencias de la Electronica, Benemerita Univ. Autonoma de Puebla, Mexico
Abstract :
This paper addresses the position control problem for robot manipulators. We present three new controllers supported by a rigorous stability analysis including the robot dynamics in the closed-loop using Lyapunov´s direct method and the LaSalle´s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental results on two degrees of freedom direct drive robot manipulator.
Keywords :
Lyapunov methods; asymptotic stability; manipulators; position control; robot dynamics; LaSalle invariance principle; Lyapunov direct method; Lyapunov function; asymptotic stability; closed-loop control; position controllers; robot dynamics; robot manipulator; stability analysis; Asymptotic stability; Control systems; Error correction; Lyapunov method; Manipulator dynamics; PD control; Pi control; Position control; Robot control; Stability analysis; Asymptotic Stability; L; Lyapunov function; Position Control; Robot Manipulators;
Conference_Titel :
Electrical and Electronics Engineering, 2005 2nd International Conference on
Print_ISBN :
0-7803-9230-2
DOI :
10.1109/ICEEE.2005.1529643
