Title :
Global regulation for robot manipulators under SP-SD feedback
Author :
Santib??nez, V?ctor ; Kelly, Rafael
Author_Institution :
Div. de Fisica Aplicada, CICESE, Mexico
Abstract :
In this paper, we propose a simple controller: the saturated P-saturated D controller with gravity compensation to solve the global regulation problem under actuator torque constraints. The performance of the proposed controller is illustrated via simulations on a two degree-of-freedom robot
Keywords :
asymptotic stability; closed loop systems; compensation; feedback; gravity; matrix algebra; robot dynamics; two-term control; 2-DOF robot manipulators; actuator torque constraints; asymptotic stability; closed loop control; dynamics; feedback; global regulation; gravity compensation; inertia matrix; saturated P-saturated D controller; Actuators; Damping; Feedback; Gravity; Manipulator dynamics; PD control; Potential energy; Robots; Shape control; Torque control;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.503891
