Saturating stiffness control of robot manipulators with bounded inputs

María del Carmen Rodríguez-Liñán; Marco Mendoza; Isela Bonilla; César A. Chávez-Olivares

International Journal of Applied Mathematics and Computer Science (2017)

  • Volume: 27, Issue: 1, page 79-90
  • ISSN: 1641-876X

Abstract

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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.

How to cite

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María del Carmen Rodríguez-Liñán, et al. "Saturating stiffness control of robot manipulators with bounded inputs." International Journal of Applied Mathematics and Computer Science 27.1 (2017): 79-90. <http://eudml.org/doc/288097>.

@article{MaríadelCarmenRodríguez2017,
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.},
author = {María del Carmen Rodríguez-Liñán, Marco Mendoza, Isela Bonilla, César A. Chávez-Olivares},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {bounded inputs; robot manipulator; saturation; stiffness control},
language = {eng},
number = {1},
pages = {79-90},
title = {Saturating stiffness control of robot manipulators with bounded inputs},
url = {http://eudml.org/doc/288097},
volume = {27},
year = {2017},
}

TY - JOUR
AU - María del Carmen Rodríguez-Liñán
AU - Marco Mendoza
AU - Isela Bonilla
AU - César A. Chávez-Olivares
TI - Saturating stiffness control of robot manipulators with bounded inputs
JO - International Journal of Applied Mathematics and Computer Science
PY - 2017
VL - 27
IS - 1
SP - 79
EP - 90
AB - 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.
LA - eng
KW - bounded inputs; robot manipulator; saturation; stiffness control
UR - http://eudml.org/doc/288097
ER -

References

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