A New Position Controller: Pascal's Cartesian Controllers

P. Sánchez-Sánchez, F. Reyes-Cortés, and C. Jiménez-Avalos (Mexico)


Cartesian Controller, Jacobian Transposed Controller, DRILL-BOT, Energy Shaping, Artificial Potential Energy, Performance Index.


The paper’s main objective is to propose a new controller for robot manipulators on Cartesian Coordinates with for mal stability proof. To verify the proposed controller’s be havior we need to compare it against the Cartesian PD con troller, this comparison is accomplish by means of the Per formance Index method that is good us to obtain a Scalar value of the sum of the error.

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