Open AccessSquare Root - Type Control for Robot Manipulators
Author(s) -
Fernando Reyes,
Jaime Cid,
Miguel Angel Limon,
Manuel Cervantes
Publication year - 2013
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/52500
Subject(s) - control theory (sociology) , square root , position (finance) , controller (irrigation) , computer science , nonlinear system , compensation (psychology) , robot , scheme (mathematics) , type (biology) , lyapunov function , control (management) , simple (philosophy) , mathematics , artificial intelligence , psychology , mathematical analysis , ecology , physics , geometry , finance , quantum mechanics , agronomy , economics , biology , philosophy , epistemology , psychoanalysis
This paper addresses the problem of position control for robot manipulators. A new control structure with compensation for global position is presented. The main contribution of this paper is to prove that the closed loop system of the nonlinear robot dynamics model and the proposed control algorithm is globally, asymptotically stable and in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides this, the theoretical results in a real-time experimental comparison are also presented to show a comparison of the performance between the square root type controller and simple PD scheme on a three degrees-of-freedom direct-drive robot