A Tracking Controller for Robot Manipulator

F. Reyes and V. Pasilla (Mexico)


: Lyapunov function, Asymptotic stabil ity, PD controllers, Direct-drive robots, Control algo rithms, Nonlinear control.


This paper presents a new control algorithm with Dy namics compensation for tracking of robot manipula tors. We propose the design of a new supported by a rigorous analysis of global stability of the closed loop dynamics in agreement with the Lyapunov's di rect method. Besides the theoretical results, the per formance of new controller is illustrated by simulation results on a two degrees of freedom directdrive robot manipulator.

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