Saturating stiffness control of robot manipulators with bounded inputs

• Autorzy: Rodríguez-Liñán M. C. , Mendoza M. , Bonilla I. , Chávez-Olivares C. A.

Identyfikatory

DOI

10.1515/amcs-2017-0006

• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

bounded inputs; robot manipulator; saturation; stiffness control

PL

wejście ograniczone; manipulator robotyczny; kontrola sztywności

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2017
• Tom: Vol. 27, no. 1
• Strony: 79--90
• Opis fizyczny: Bibliogr. 39 poz., wykr.

Twórcy

autor

Rodríguez-Liñán M. C.

• CONACYT—Ensenada Institute of Technology, Boulevard Tecnológico No. 150, Col. Ex Ejido Chapultepec, Ensenada, Baja California, 22780 Mexico

autor

Mendoza M.

• Faculty of Sciences, Autonomous University of San Luis Potosí, Av. Salvador Nava S/N, San Luis Potosí, SLP, 78290 Mexico

autor

Bonilla I.

• Faculty of Sciences, Autonomous University of San Luis Potosí, Av. Salvador Nava S/N, San Luis Potosí, SLP, 78290 Mexico

autor

Chávez-Olivares C. A.

• Robotics Engineering Department, Autonomous University of Aguascalientes, Prol. Mahatma Gandhi 6601, Aguascalientes, Ags., 20392 Mexico

Bibliografia

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Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017).