Global Positioning of Robot Manipulators with Mixed Revolute and Prismatic Joints (CROSBI ID 115880)
Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Global Positioning of Robot Manipulators with Mixed Revolute and Prismatic Joints
The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this paper a class of globally stable controllers for robot manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear PID controller. By using Lyapunov's direct method, the explicit conditions on the controller parameters to ensure global asymptotic stability are obtained.
Position control; manipulators; robot dynamics; stability
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano
nije evidentirano