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Authors: Fernando Reyes ; Jaime Cid ; Marco Mendoza and Isela Bonilla

Affiliation: Benemérita Universidad Autónoma de Puebla, Grupo de Robótica, Facultad de Ciencias de la Electrónica, Mexico

Keyword(s): Lyapunov function, Global asymptotic stability, PD and PID controllers, Direct-drive robots, position control.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: This paper addresses the problem of position control for robot manipulators. A new family of position controllers with gravity compensation for the global position of robots manipulators is presented. The previous results on the linear PD controller are extended to the new proposed family. The main contribution of this paper is to prove that the closed–loop system composed by full nonlinear robot dynamics and the family of controllers is globally asymptotically stable in agreement with Lyapunov’s direct method and LaSalle’s invariance principle. Besides the theoretical results, a real-time experimental comparison is also presented on visual servoing applications to illustrate the performance of the proposed family on a direct–drive robot of two degrees of freedom.

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Paper citation in several formats:
Reyes, F.; Cid, J.; Mendoza, M. and Bonilla, I. (2005). A NEW FAMILY OF CONTROLLERS FOR POSITION CONTROL OF ROBOT MANIPULATORS. In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO; ISBN 972-8865-30-9; ISSN 2184-2809, SciTePress, pages 361-366. DOI: 10.5220/0001174803610366

@conference{icinco05,
author={Fernando Reyes. and Jaime Cid. and Marco Mendoza. and Isela Bonilla.},
title={A NEW FAMILY OF CONTROLLERS FOR POSITION CONTROL OF ROBOT MANIPULATORS},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO},
year={2005},
pages={361-366},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001174803610366},
isbn={972-8865-30-9},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO
TI - A NEW FAMILY OF CONTROLLERS FOR POSITION CONTROL OF ROBOT MANIPULATORS
SN - 972-8865-30-9
IS - 2184-2809
AU - Reyes, F.
AU - Cid, J.
AU - Mendoza, M.
AU - Bonilla, I.
PY - 2005
SP - 361
EP - 366
DO - 10.5220/0001174803610366
PB - SciTePress

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