Trigonometric Saturated Controller for Robot Manipulators∗
نویسندگان
چکیده
A new position controller with gravity compensation for robot manipulators in joint space is proposed in this paper. The goal of position control problem for global asymptotically stability is achieved by using Lyapunov ’s direct method and LaSalle ’s invariance principle over the full non—linear mutivariable robot closed—loop system. In adition, this paper also presents experimental results on a three — degrees—of— freedom direct drive robot.
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