Pregled bibliografske jedinice broj: 156675
Global Asymptotic Stabilization of Robot Manipulators with Mixed Revolute and Prismatic Joints
Global Asymptotic Stabilization of Robot Manipulators with Mixed Revolute and Prismatic Joints // Proceedings of 6th IFAC Symposium on Nonlinear Control Systems
Stuttgart: Elsevier, 2004. str. 1541-1546 (poster, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Global Asymptotic Stabilization of Robot Manipulators with Mixed Revolute and Prismatic Joints
Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
Proceedings of 6th IFAC Symposium on Nonlinear Control Systems
/ - Stuttgart : Elsevier, 2004, 1541-1546
Skup
6th IFAC Symposium on Nonlinear Control Systems
Mjesto i datum
Stuttgart, Njemačka, 01.09.2004. - 03.09.2004
Vrsta sudjelovanja
Poster
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
robot control; global stability; PID control; nonlinear control;
Sažetak
In this paper a class of globally stable controllers for robotic 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, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for the evaluation of a performance index and determination of optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
