Saturating stiffness control of robot manipulators with bounded inputs

Rodríguez-Liñán, M. C. ; Mendoza, M. ; Bonilla, I. ; Chávez-Olivares, C. A.

International Journal of Applied Mathematics and Computer Science, Tome 27 (2017) no. 1, pp. 79-90.

Résumé

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

Détail

Keywords: bounded inputs, robot manipulator, saturation, stiffness control
Mots-clés : wejście ograniczone, manipulator robotyczny, kontrola sztywności

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