Polynomial family of PD-type controllers for robot manipulators |
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| Affiliation: | 1. Benemérita Universidad Autónoma de Puebla, Facultad de Ciencias de la Electrónica, Grupo de Robótica, Apartado Postal 542, Puebla 72001, Mexico;2. Instituto Tecnológico de Estudios Superiores de Monterrey, Campus Toluca, Estado de México, Mexico;1. Department of Psychology, University of Groningen, The Netherlands;2. Department of Artificial Intelligence, University of Groningen, The Netherlands;3. Department of Psychology, University of Amsterdam, The Netherlands;1. Colorado State University, United States;2. Pennsylvania State University, United States;3. Centre for European Economic Research, ZEW Mannheim, Germany;1. School of Chemistry & Chemical Engineering, Shaanxi Normal University, Xi’an 710062, PR China;2. Key Laboratory of Macromolecular Science of Shaanxi Province, Shaanxi Normal University, Xi’an 710062, PR China;1. Abadan Faculty of Petroleum Engineering, Petroleum University of Technology, Abadan, Iran;2. Islamic Azad University, Birjand Branch, Birjand, Iran;3. Department of Petroleum Engineering, Gachsaran Branch, Islamic Azad University, Gachsaran, Iran |
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| Abstract: | This paper addresses the problem of position control for robot manipulators. A new polynomial family of PD-type controllers with gravity compensation for the global position of robots manipulators is presented. The previous results on the linear PD controller are extended to the proposed polynomial family. The classical PD controller can be found among this large class of controllers when its proportional gain is a diagonal matrix. The main contribution of this paper is to prove that the closed-loop system composed by full nonlinear robot dynamics and the proposed family of controllers is globally asymptotically stable in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides the theoretical results, a real-time experimental comparison is also presented to illustrate the performance of the proposed family with other well-known control algorithms such as PD and PID schemes on a three degrees of freedom direct-drive arm. |
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