Saturating Stiffness Control of Robot Manipulators with Bounded Inputs
2017 ◽
Vol 27
(1)
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pp. 79-90
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AbstractA 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.
1993 ◽
Vol 115
(3)
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pp. 419-426
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2020 ◽
pp. 014233122097313
1987 ◽
Vol 109
(4)
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pp. 320-327
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2012 ◽
Vol 229-231
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pp. 2209-2212
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2015 ◽
Vol 2015
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pp. 1-11
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2018 ◽
Vol 2018
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pp. 1-11
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