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In this work, we propose a passivity-based control approach that addressesthe trajectory tracking problem for a class of mechanical systems thatcomprises a broad range of robotic arms. The resulting controllers can benaturally saturated and do not require velocity measurements. Moreover, theproposed methodology does not require the implementation of observers, and thestructure of the closed-loop system permits the identification of a Lyapunovfunction, which eases the convergence analysis. To corroborate theeffectiveness of the methodology, we perform experiments with the PhilipsExperimental Robot Arm.

Trajectory Tracking for Robotic Arms with Input Saturation and Only Position Measurements