• DocumentCode
    2036616
  • Title

    Control of nonlinear robotic manipulators

  • Author

    Sinha, A.S.C. ; Lyshevski, Sergey Edward

  • Author_Institution
    Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
  • Volume
    1
  • fYear
    1997
  • fDate
    10-12 Dec 1997
  • Firstpage
    815
  • Abstract
    This paper develops an innovative design procedure using the Lyapunov stability theory. In particular, nonlinear control laws are synthesized for rigid robotic manipulators. The technique deals explicitly with nonlinear robot models, and develops the controller for nonlinear manipulators. An example illustrates the design for two-degree-of-freedom planar robot
  • Keywords
    manipulator dynamics; 2-DOF planar robot; Lyapunov stability; dynamics; nonlinear control systems; nonlinear manipulators; tracking; Differential equations; Erbium; Feedback; Lyapunov method; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Service robots; Stability;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
  • Conference_Location
    San Diego, CA
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-4187-2
  • Type

    conf

  • DOI
    10.1109/CDC.1997.650739
  • Filename
    650739
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2036616