This paper deals with the position control of robot manipulators and the practical implementation trough a programming environment of control algorithms. A new hyperbolic-type control scheme is proposed. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict Lyapunov function. Simulation results on two degrees-of-freedom robot manipulator and experimental validation on a platform pendulum are provided.
Programming Enviroment of Control Algorithms
01.11.2017
482687 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch