In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented. The properties and characteristics of the asinh control structure make the position error and the motion velocity asymptotically converge to the equilibrium point. A strict Lyapunov function to formally prove global asymptotic stability is developed. The tuning of the control gains is obtained by PSO (Particle Swarm Optimization) technique without saturating the servomotors. To illustrate the effectiveness and performance of the proposed scheme, an experimental comparative analysis between the proportional-derivative (PD) and atanh controls against the proposed algorithm on a three degrees of freedom direct-drive robot manipulator is carried out. ; The authors would like to thank the Benemérita Universidad Autonoma de Puebla, for its financial support with the project VIEP-100048866-2019 (Control de posición con ganancias variables de robots manipuladores), which partially supported this work. ; Peer reviewed
An asinh-type regulator for robot manipulators with global asymptotic stability
2020-07-28
1848-3380
Article (Journal)
Electronic Resource
English
DDC: | 629 |
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