DocumentCode
3567976
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
Volume
1
fYear
1996
Firstpage
927
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.503891
Filename
503891
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