<abstract xmlns="http://www.w3.org/1999/xhtml"><p>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.</p><p>The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.</p></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.

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Saturating Stiffness Control of Robot Manipulators with Bounded Inputs"}

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...

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Publié en ligne: 04 mai 2017

Pages: 79 - 90

Reçu: 09 juin 2016

Accepté: 06 déc. 2016

DOI: https://doi.org/10.1515/amcs-2017-0006

Mots clés
bounded inputs, robot manipulator, saturation, stiffness control

© by Marco Mendoza

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Publié en ligne: 04 mai 2017

Pages: 79 - 90

Reçu: 09 juin 2016

Accepté: 06 déc. 2016

DOI: https://doi.org/10.1515/amcs-2017-0006

Mots clésbounded inputs, robot manipulator, saturation, stiffness control

© by Marco Mendoza

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Mots clés
bounded inputs, robot manipulator, saturation, stiffness control