A Position Controller's Evaluation using a Cartesian Robot and a Joint Robot Arm

P. Sánchez-Sánchez and F. Reyes-Cortés (Mexico)


Cartesian Controller, Jacobian Transposed Controller, DRILLBOT, Energy Shaping, ArtificialPotential Energy, Performance Index.


The main objective of this paper is to propose a new con troller for robot manipulators on cartesian coordinates with formal stability proof. To verify the proposed controller's behavior we have compared it against the cartesian PD con troller using the performance index method. In the expe rimental evaluation of the proposed controller we used a cartesian robot and a joint robot arm.

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