Tracking control of robot manipulators with bounded torque inputs

Authors
Dixon, WE de Queiroz, MS Zhang, F Dawson, DM
Citation
We. Dixon et al., Tracking control of robot manipulators with bounded torque inputs, ROBOTICA, 17, 1999, pp. 121-129
Citations number
13
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
ROBOTICA
ISSN journal
02635747 → ACNP
Volume
17
Year of publication
1999
Part
2
Pages
121 - 129
Database
ISI
SICI code
0263-5747(199903/04)17:<121:TCORMW>2.0.ZU;2-G
Abstract
This pager examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback c ontroller and an exact model knowledge, output feedback controller are desi gned to produce semi-global asymptotic link position tracking errors. Simul ation results are provided to validate the theoretical concepts, and a comp arative analysis demonstrates the benefits of the proposed controllers.