Global Stability of A Regulator For Robot Manipulators

JosÃ© Manuel Cervantes VÃ¡zquez; Fernando Reyes CortÃ©s; Jorge Bedolla

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Global Stability of A Regulator For Robot Manipulators

JosÃ© Manuel Cervantes VÃ¡zquez, Fernando Reyes CortÃ©s, Jorge Bedolla

Pages - 220 - 232 | Revised - 15-11-2012 | Published - 31-12-2012

Published in International Journal of Intelligent Systems and Applications in Robotics (IJRA)

Volume - 3 Issue - 4 | Publication Date - December 2012 Table of Contents

MORE INFORMATION

References | Abstracting & Indexing

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

ABSTRACTING & INDEXING

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MANUSCRIPT AUTHORS

Instituto TenolÃ³gico de Apizaco - Mexico

mcervantesv@hotmail.com

Mr. Jorge Bedolla

- Mexico

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