Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5004890 | ISA Transactions | 2013 | 11 Pages |
Abstract
⺠The literature reports the use of linear and non linear PD controllers to achieve motion control of manipulators. ⺠The proof the robustness of PD controllers for manipulators via singular perturbations is reported in this paper. ⺠A class of the PD-type controllers is introduced. ⺠An extension to the case of only position measurements is proposed ⺠The theoretical results are supported by means of a detailed real-time experimental study.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Salvador González-Vázquez, Javier Moreno-Valenzuela,