In this paper, the regulation problem for robot manipulators in joint space through the proposal of a new family of bounded regulators with variable gains is presented. The proposed regulators have bounded functions that replace the classical position error and the velocity; moreover, the variable gains are formed by a family of Lipchitz functions with the position error and the velocity as their arguments. This structure avoids exceeding the physical limits of the servomotors. A strict Lyapunov function is proposed to demonstrate the global and asymptotic stability. Finally, the functionality and performance of the proposal are examined by experimental results on a direct-drive-robot of 3-degrees-of-freedom against the PD regulator
In this paper, the regulation problem for robot manipulators in joint space through the proposal of a new family of bounded regulators with variable gains is presented. The proposed regulators have bounded functions that replace the classical position error and the velocity; moreover, the variable gains are formed by a family of Lipchitz functions with the position error and the velocity as their arguments. This structure avoids exceeding the physical limits of the servomotors. A strict Lyapunov function is proposed to demonstrate the global and asymptotic stability. Finally, the functionality and performance of the proposal are examined by experimental results on a direct-drive-robot of 3-degrees-of-freedom against the PD regulator Read More
Related posts:
An asinh-type regulator for robot manipulators with global asymptotic stability
CORDIC-Based Computation of Arcsine and Arccosine Functions on FPGA
Mean velocity and length-scales in the overlap region of wall-bounded turbulent flows
Speed Proportional Integrative Derivative Controller: Optimization Functions in Metaheuristic Algorithms
Locational Marginal Price Forecasting Using SVR-Based Multi-Output Regression in Electricity Markets
A heuristic approach for the online order batching problem with multiple pickers