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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    Title :

    Programming Enviroment of Control Algorithms




    Publication date :

    2017-11-01


    Size :

    482687 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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