A note on bounded-input feedback global stabilization of robot manipulators

DOI10.1016/S0893-9659(97)00093-1zbMATH Open0896.70008OpenAlexW2092007248MaRDI QIDQ1376797FDOQ1376797

Authors: Ricardo Femat, J. Alvarez-Ramírez, Julio Solís-Daun 

Publication date: 21 January 1998

Published in: Applied Mathematics Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/s0893-9659(97)00093-1

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zbMATH Keywords

gravitational forces\(n\)-link robot manipulatorLyapunov-based proofpassivity-based approachtorque input bounds

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Stabilization of systems by feedback (93D15)

Cites Work

• Passivity, feedback equivalence, and the global stabilization of minimum phase nonlinear systems
• Global regulation of robots using only position measurements
• An observer-based set-point controller for robot manipulators with flexible joints
• A New Feedback Method for Dynamic Control of Manipulators
• Adaptive motion control of rigid robots: A tutorial
• The control of robot manipulators with bounded input

Cited In (2)

• On the uniform boundedness of the inertia matrix of serial robot manipulators
• Global connective stability of a class of robotic manipulators

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