Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs

IEEE Transactions on Control Systems Technology

Volumn 14, Issue 5, 2006, Pages 958-965

  Zavala Río, Arturo ^a   Santibáñez, Víctor ^b  

^a INSTITUTO POTOSINO DE INVESTIGACIÓN CIENTÍFICA Y TECNOLÓGICA   (Mexico)

^b INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

Author keywords

Bounded inputs; Global regulation; Robot control; Saturation functions

Indexed keywords

ALGORITHMS; MANIPULATORS; MOTION COMPENSATION; MOTION CONTROL; MOTION PLANNING; ROBOTICS;

BOUNDED INPUTS; GLOBAL REGULATION; GRAVITY-COMPENSATION CONTROL LAW; ROBOT CONTROL; SATURATION FUNCTIONS;

CLOSED LOOP CONTROL SYSTEMS;

EID: 33747606728     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2006.876932     Document Type: Article

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