Abstract
This paper presents a PD controller for robot manipulator considering simultaneously joint flexibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired fixed angular position is proved using only angular position and velocity measurements.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
