MANIPULATION
Global regulation for robot manipulators under SP-SD feedback
Víctor Santibáñez, Rafael Kelly
- Year
- 2002
- Citations
- 33
Abstract
In this paper, we propose a simple controller: the saturated P-saturated D controller with gravity compensation to solve the global regulation problem under actuator torque constraints. The performance of the proposed controller is illustrated via simulations on a two degree-of-freedom robot.
Keywords
Control theory (sociology)Compensation (psychology)Controller (irrigation)ActuatorRobotTorqueRobot manipulatorComputer scienceControl engineeringOpen-loop controller
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