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

DOI10.1016/S0893-9659(97)00093-1MaRDI QIDQ1376797zbMATHOpenAlexFDO

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

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)

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Cites work

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

Cited in

(2)

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

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