A class of OFT controllers for torque-saturated robot manipulators: Lyapunov stability and experimental evaluation

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 51, Issue 1, 2008, Pages 65-88

  Moreno Valenzuela, Javier ^a   Santibáñez, Víctor ^b   Campa, Ricardo ^b  

^a DEPARTAMENTO DE FÍSICA   (Mexico)

^b INSTITUTO TECNOLÓGICO DE LA LAGUNA   (Mexico)

Author keywords

Direct drive robot; Lyapunov theory; Robot manipulator; Tracking control; Unmeasurable joint velocity

Indexed keywords

CONSTRAINED OPTIMIZATION; INTELLIGENT ROBOTS; LYAPUNOV METHODS; POWER CONTROL; TORQUE CONTROL;

DIRECT-DRIVE ROBOTS; LYAPUNOV THEORY; ROBOT MANIPULATORS; TRACKING CONTROL; UNMEASURABLE JOINT VELOCITY;

MICROMANIPULATORS;

EID: 37249020945     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-007-9181-6     Document Type: Article

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