Title :
Stabilization of the robotic arms
Author :
De Jesus Rubio, Jose ; Garcia, Enrique ; Aguilar Ibanez, Carlos ; Torres, Cesar
Author_Institution :
Seccion de Estudios de Posgrado e Investig., Inst. Politec. Nac., Mexico City, Mexico
Abstract :
The main contributions of this paper are as follows: 1) a proportional-derivative controller with inverse dead-zone is addressed for the regulation of robotic arms, where the inputs dead-zone is cancelled with the inverse dead-zone, 2) stability of the mentioned technique is assured, and 3) the considered strategy is validated by two examples.
Keywords :
PD control; manipulators; stability; proportional-derivative controller; robotic arm; stabilization; Electronic countermeasures; Manipulators; PD control; Robot sensing systems; Silicon; Stability analysis; Proportional-derivative control; robotic arm;
Journal_Title :
Latin America Transactions, IEEE (Revista IEEE America Latina)
DOI :
10.1109/TLA.2015.7332133
