A new position controller: Pascal’s Cartesian Controllers
نویسنده
چکیده
The paper’s main objective is to propose a new controller for robot manipulators on Cartesian Coordinates with formal stability proof. To verify the proposed controller’s behavior we need to compare it against the Cartesian PD controller, this comparison is accomplish by means of the Performance Index method that is an advantage to obtain a Scalar value of the sum of the error. Key–Words: Cartesian Controller, Jacobian Transposed Controller, DRILL-BOT, Energy Shaping, Artificial Potential Energy, Performance Index.
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