Abstract
The intent of this rather expository paper is to show the importance of Lyapunov theory in various aspects of robot control and design of robotic systems. Specifically it is shown that a rather classical linear PD or PID control method adopted in most modern industrial robot manipulators practically works well regardless of high nonlinearity and existence of strong couplings between joints in robot dynamics. In conjunction with this, a means of construction of adequate Lyapunov functions is provided.
Sign-in/Register to access full text options 
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.
