A Simple Controller of Robot Manipulators for Industrial Application
نویسندگان
چکیده
In this article, we test a new control algorithm with non–linear structure for the position control problem of robot manipulators. We have demonstrated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. Experimental results of the proposed controller are presented on a three–degrees–of–freedom direct drive robot manipulator, this is an industrial application knew as pick and place.
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