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Global Stability of A Regulator For Robot Manipulators
José Manuel Cervantes Vázquez, Fernando Reyes Cortés, Jorge Bedolla
Pages - 220 - 232     |    Revised - 15-11-2012     |    Published - 31-12-2012
Volume - 3   Issue - 4    |    Publication Date - December 2012  Table of Contents
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KEYWORDS
Regulator, Global Asymptotic Stability, Lyapunov function, Position Control, Robot Manipulators
ABSTRACT
In this work a regulator for robot manipulators is proposed, it has been developed considering that the equilibrium point of the closed-loop system is globally asymptotically stable in agreement with Lyapunov’s direct method. The global asymptotic stability of the controlled system is analyzed. We present real-time experimental results to show the performance of the proposed regulator on a robot manipulator of direct drive with three degrees of freedom. The performance of the new control scheme is compared with respect to the popular PD Algorithm in terms of positioning error
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Professor José Manuel Cervantes Vázquez
Instituto Tenológico de Apizaco - Mexico
mcervantesv@hotmail.com
Dr. Fernando Reyes Cortés
Benemérita Universidad Autónoma de Puebla - Mexico
Mr. Jorge Bedolla
- Mexico