- Tytuł:
- Saturating stiffness control of robot manipulators with bounded inputs
- Autorzy:
-
Rodríguez-Liñán, M. C.
Mendoza, M.
Bonilla, I.
Chávez-Olivares, C. A. - Powiązania:
- https://bibliotekanauki.pl/articles/330062.pdf
- Data publikacji:
- 2017
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
bounded inputs
robot manipulator
saturation
stiffness control
wejście ograniczone
manipulator robotyczny
kontrola sztywności - Opis:
- 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.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2017, 27, 1; 79-90
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł