POINT-TO-POINT ROBOT CONTROL UNDER ACTUATOR CONSTRAINTS

This paper provides a solution to the point-to-point control of robot manipulators, taking into account that the actuators deliver torques i n a limited operating zone. A smooth controller, proposed in this pape r, yields a globally asymptotically stable closed loop system while th e torques remain within specified limits. The performance of the propo sed controller is illustrated via experiments on a two degrees-of-free dom direct-drive robot arm. Copyright (C) 1997 Elsevier Science Ltd.