Robust Tracking Control for Constrained Robots
نویسندگان
چکیده
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach. © 2012 The Authors. Published by Elsevier Ltd. Selection and/or peer-review under responsibility of the Centre of Humanoid Robots and Bio-Sensor (HuRoBs), Faculty of Mechanical Engineering, Universiti Teknologi MARA.
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ورودعنوان ژورنال:
- CoRR
دوره abs/1405.1821 شماره
صفحات -
تاریخ انتشار 2012