Abstract
This paper provides a solution to the point-to-point control of robot manipulators, taking into account that the actuators deliver torques in a limited operating zone. A smooth controller, proposed in this paper, yields a globally asymptotically stable closed loop system while the torques remain within specified limits. The performance of the proposed controller is illustrated via experiments on a two degrees-of-freedom direct-drive robot arm.
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.
