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.


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    Titel :

    Programming Enviroment of Control Algorithms




    Erscheinungsdatum :

    01.11.2017


    Format / Umfang :

    482687 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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