DocumentCode
3037212
Title
A New Control Structure for Robot Manipulators Based on the Trigonometric Functions Sech+Sinh
Author
Lopez-Perez, E. ; Sanchez-Sanchez, P. ; Michua-Camarillo, A. ; Reyes-Cortes, F. ; Cebada-Reyes, J.G.
Author_Institution
Autonomous Univ. of Puebla, Puebla
fYear
2008
fDate
Sept. 30 2008-Oct. 3 2008
Firstpage
490
Lastpage
495
Abstract
The main objective of this paper is to control the position of a robot manipulator by means of the implementation of a new control scheme based on the combination of hyperbolic trigonometrical functions. In order to accomplish the control we used the method of shaping energy; and by means of the Lyapunovpsilas theory its stability is demonstrated formally. It is important to compare the functionality of the proposed controller, for this reason is compared with the simple PD controller, this analysis is made based on the performance index having solved the norm L2.
Keywords
Lyapunov methods; computational geometry; manipulators; position control; stability; Lyapunov theory; hyperbolic trigonometrical function; position control; robot manipulator; system stability; Control systems; Displacement control; Equations; Lagrangian functions; Manipulator dynamics; Robot control; Service robots; Torque control; Vehicle dynamics; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08
Conference_Location
Morelos
Print_ISBN
978-0-7695-3320-9
Type
conf
DOI
10.1109/CERMA.2008.102
Filename
4641120
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