New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.


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    Title :

    Exponentially Stabilizing Robot Control Laws


    Contributors:

    Published in:

    Publication date :

    1990-09-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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