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2017 | 27 | 1 | 79-90
Tytuł artykułu

Saturating stiffness control of robot manipulators with bounded inputs

Treść / Zawartość
Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
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.
Rocznik
Tom
27
Numer
1
Strony
79-90
Opis fizyczny
Daty
wydano
2017
otrzymano
2016-06-09
poprawiono
2016-11-07
zaakceptowano
2016-12-06
Twórcy
  • CONACYT-Ensenada Institute of Technology, Boulevard Tecnológico No. 150, Col. Ex Ejido Chapultepec, Ensenada, Baja California, 22780 Mexico
  • Faculty of Sciences, Autonomous University of San Luis Potosí, Av. Salvador Nava S/N, San Luis Potosí, SLP, 78290 Mexico
  • Faculty of Sciences, Autonomous University of San Luis Potosí, Av. Salvador Nava S/N, San Luis Potosí, SLP, 78290 Mexico
  • Robotics Engineering Department, Autonomous University of Aguascalientes, Prol. Mahatma Gandhi 6601, Aguascalientes, Ags., 20392 Mexico
Bibliografia
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  • Chávez-Olivares, C., Reyes, F. and González-Galván, E. (2015). On stiffness regulators with dissipative injection for robot manipulators, International Journal of Advanced Robotic Systems 12(65): 1-15.
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  • López-Araujo, D.J., Zavala-Río, A., Santibáñez, V. and Reyes, F. (2013a). A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs, Robotica 31(7): 1103-1117.
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  • Mendoza, M., Bonilla, I., Reyes, F. and González-Galván, E. (2012). A Lyapunov-based design tool of impedance controllers for robot manipulators, Kybernetika 48(6): 1136-1155.
  • Mendoza, M., Zavala-Río, A., Santibáñez, V. and Reyes, F. (2015a). A generalised PID-type control scheme with simple for the global regulation of robot manipulators with tuning constrained inputs, International Journal of Control 88(10): 1995-2012.
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  • Santibáñez, V., Kelly, R. and Reyes, F. (1998). A new set-point controller with bounded torques for robot manipulators, IEEE Transactions on Industrial Electronics 45(1): 126-133.
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  • Xu, G., Song, A. and Li, H. (2011). Adaptive impedance control for upper-limb rehabilitation robot using evolutionary dynamic recurrent fuzzy neural network, Journal of Intelligent & Robotic Systems 62(3): 501-525.
  • Yarza, A., Santibanez, V. and Moreno-Valenzuela, J. (2013). An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation, International Journal of Applied Mathematics and Computer Science 23(3): 599-611, DOI: 10.2478/amcs-2013-0045.
  • Zavala-Río, A. and Santibáñez, V. (2006). Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs, IEEE Transactions on Control Systems Technology 14(5): 958-965.
  • Zavala-Río, A. and Santibáñez, V. (2007). A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs, IEEE Transactions on Robotics 23(2): 386-391.
Typ dokumentu
Bibliografia
Identyfikatory
Identyfikator YADDA
bwmeta1.element.bwnjournal-article-amcv27i1p79bwm
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