Desired model compensation-based position constrained control of robotic manipulators
Küçük Resim Yok
Tarih
2022
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Cambridge Univ Press
Erişim Hakkı
info:eu-repo/semantics/openAccess
Özet
This work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal starts within some predefined region, the proposed controller ensures that the joint tracking error signal remains inside this region and approaches to zero asymptotically. Extensive numerical simulations and experimental studies performed on a two-link direct-drive planar robot are provided in order to illustrate the effectiveness and feasibility of the proposed controller.
Açıklama
Anahtar Kelimeler
Robotic manipulators, Position constraint, Full-state feedback, Lyapunov-based approach, Barrier Lyapunov Functions, Pure-Feedback Systems, Prescribed Performance, Adaptive-Control, Tracking
Kaynak
Robotica
WoS Q Değeri
Q3
Scopus Q Değeri
Q1
Cilt
40
Sayı
2
