Saturating stiffness control of robot manipulators with bounded inputs Article

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Overview

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. © 2017 by Marco Mendoza.

authors

• Bonilla Gutiérrez Isela
• Chávez-Olivares C.
• Del Carmen Rodríguez-Liñán M.
• Mendoza Gutiérrez Marco Octavio

publication date

• 2017-01-01

published in

• International Journal of Applied Mathematics and Computer Science  Journal

Research

keywords

• bounded inputs; robot manipulator; saturation; stiffness control Closed loop systems; Degrees of freedom (mechanics); Flexible manipulators; Industrial robots; Modular robots; Robot applications; Robots; Saturation (materials composition); Stiffness; Bounded input; Contact forces; Control laws; Equilibrium point; Lyapunov stability analysis; Robot manipulator; Stiffness control; Three degree of freedoms; Manipulators

Identity

Digital Object Identifier (DOI)

• 10.1515/amcs-2017-0006

Additional Document Info

start page

• 79

end page

• 90

volume

• 27

issue

• 1