Hostname: page-component-745bb68f8f-kw2vx Total loading time: 0 Render date: 2025-02-11T07:06:59.401Z Has data issue: false hasContentIssue false
  • English
  • Français

Tracking Control of Robot Manipulators with Bounded Torque Inputs

Published online by Cambridge University Press:  01 March 1999

W.E. Dixon ,
M.S. de Queiroz ,
F. Zhang  and
D.M. Dawson
W.E. Dixon
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
M.S. de Queiroz
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
F. Zhang
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
D.M. Dawson
Affiliation:
Department of Electrical & Computer Engineering, Clemson University, Clemson, SC 29634-0915, USA. E-mail:wdixon, mdequei, fzhang, ddawson@eng.clemson.edu
Rights & Permissions [Opens in a new window]

Abstract

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

This paper examines the problem of link position tracking control of robot manipulators with bounded torque inputs. An adaptive, full-state feedback controller and an exact model knowledge, output feedback controller are designed to produce semi-global asymptotic link position tracking errors. Simulation results are provided to validate the theoretical concepts, and a comparative analysis demonstrates the benefits of the proposed controllers.

Keywords

Tracking controlRobotsBounded torque inputFeedback controllers
Type
Research Article
Information
Robotica , Volume 17 , Issue 2 , March 1999 , pp. 121 - 129
Copyright
© 1998 Cambridge University Press