Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

International Journal of Applied Mathematics and Computer Science

Rodríguez-Liñán María del Carmen¹  Mendoza Marco²  Bonilla Isela²  Chávez-Olivares César A.³ 

[1] CONACYT—Ensenada Institute of Technology Boulevard Tecnológico No. 150, Col. Ex Ejido Chapultepec, Ensenada, Baja California, 22780Mexico;Faculty of Sciences Autonomous University of San Luis Potosí, Av. Salvador Nava S/N, San Luis Potosí, SLP, 78290Mexico;Robotics Engineering Department Autonomous University of Aguascalientes, Prol. Mahatma Gandhi 6601, Aguascalientes, Ags., 20392Mexico;

关键词: bounded inputs;    robot manipulator;    saturation;    stiffness control;   

DOI  :  10.1515/amcs-2017-0006

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown