MANIPULATION
Improvements on saturating PD with gravity compensation control for robotic manipulators
Dongya Zhao, Shaoyua Li, Feng Gao
- Year
- 2009
- Citations
- 4
Abstract
Three novel saturating PD with gravity compensation control laws are developed for robotic manipulators in this study. By employing nonlinear proportional control, the proposed approaches extend existing saturating PD control for robotic manipulators. Stability analysis and simulations are presented to validate the proposed approach.
Keywords
Control theory (sociology)Compensation (psychology)Robot manipulatorNonlinear systemStability (learning theory)Control (management)Control engineeringExponential stabilityComputer scienceEngineering
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