Desired Model Compensation based Position Constrained Control of Robotic\n Manipulators

2020/04/23 by Samet Gul, Erkan Zergeroğlu, Gul, Samet +5
Engineering · #Advanced Control Systems Optimization #Adaptive Control of Nonlinear Systems #Advanced Control Systems Design

paper · pdf · doi:10.48550/arxiv.2004.11277

Abstract

This work presents the design and the corresponding stability analysis of\ndesired model based, joint position constrained, robot controller.\nSpecifically, provided that the initial joint position tracking error signal\nstarts below some predefined value, the proposed controller ensures that the\njoint tracking error signal remains inside the region (defined by predefined\nupper--bound) and approaches to zero asymptotically.\n

Related

• Position Constrained, Adaptive Control of Robotic Manipulators without Velocity Measurements
• Control Barrier Functions for Mechanical Systems: Theory and Application\n to Robotic Grasping
• Torque Control with Joints Position and Velocity Limits Avoidance
• Motion Control of Redundant Robots with Generalised Inequality Constraints
• Velocity-free task-space regulator for robot manipulators with external disturbances