Tracking Control of Robot Manipulators with Bounded Torque Inputs
نویسندگان
چکیده
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.
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ورودعنوان ژورنال:
- Robotica
دوره 17 شماره
صفحات -
تاریخ انتشار 1999