L.T. Aguilar (USA) and O. Castillo (Mexico)
Homogeneous control, Observer, Robot Manipulator.
In industrial applications, trajectory tracking control plays
an important role in the motion of robot manipulators. In
this paper, we present a homogeneous controller for track
ing trajectories of robot manipulators assuming that only
position information is available. A stability analysis of
the closed-loop dynamic system in question was performed
within the framework of Lyapunov functions. Performance
issues related to homogeneous closed-loop systems are il
lustrated in numerical simulations applied to a robot ma
nipulator of two-degrees-of-freedom (2-DOF).