Add to ORKGAbstract: In this paper a class of globally stable controllers for robotic manipula-tors with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear PID controller. By using Lyapunov’s direct method, explicit conditions on controller parameters which ensure global asymptotic stability are obtained. Further, the Lyapunov function is employed for the evaluation of a performance index and determination of optimal values of controller parameters. Finally, an example is given to demonstrate the obtained results
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper we propose a set of saturated controllers with variable gains to solve the regulation ...
summary:This paper deals with the global position control problem of robot manipulators in joint spa...
This paper deals with the position control of robot manipulators with uncertain and varying-time pay...
summary:This paper deals with the global position control problem of robot manipulators in joint spa...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, we propose a set of saturated controllers with variable gains to solve the regulation...
Abstract In this note we address the problem of set-point control of robot manipulators with un-cert...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper we propose a set of saturated controllers with variable gains to solve the regulation ...
summary:This paper deals with the global position control problem of robot manipulators in joint spa...
This paper deals with the position control of robot manipulators with uncertain and varying-time pay...
summary:This paper deals with the global position control problem of robot manipulators in joint spa...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, a new asinh-type control scheme with gravity compensation for the position control pr...
In this paper, we propose a set of saturated controllers with variable gains to solve the regulation...
Abstract In this note we address the problem of set-point control of robot manipulators with un-cert...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...
In this note we address the problem of set-point control of robot manipulators with uncertain gravit...