Creator:

Rodríguez-Linán, María del Carmen ; Mendoza, Marco ; Bonilla, Isela ; Chávez-Olivares, César

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

Saturating stiffness control of robot manipulators with bounded inputs

Group publication title:

AMCS, Volume 27 (2017)

Subject and Keywords:

bounded inputs ; robot manipulator ; saturation ; stiffness control

Abstract:

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2017

Resource Type:

artykuł

DOI:

10.1515/amcs-2017-0006

Pages:

79-90

Source:

click here to follow the link ; AMCS, volume 27, number 1 (2017)

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego