Position Controllers With Bounded Actions For Robot Manipulators
نویسندگان
چکیده
This paper addresses the position control problem for robot manipulators. We present three new controllers with bounded actions supported by a rigorous stability analysis including the robot dynamics in the closed–loop using Lyapunov’s direct method and the LaSalle’s invariance principle. Besides the theoretical results, the performance of proposed controllers is illustrated by experimental results on a two degrees of freedom direct drive robot manipulator. Key-Words: Position Control, Robot Manipulators, Bounded Actions, L2 Norm, Lyapunov function, Asymptotic Stability.
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