Bounded Controller for Robot Manipulators

F. Reyes and J. Cid (Mexico)


Direct–drive robot, Bounded controllers, Lya punov function, Asymptotic stability.


In this article, we propose a control algorithm with bounded torques and gravity compensation for the position control problem of robot ma nipulators. We have demonstrated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is locally asymptotically sta ble through the Lyapunov’s direct method to gether with LaSalle invariance principle. Experi mental results of the proposed controller are pre sented on a three–degrees–of–freedom direct drive robot manipulator.

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