A New Family of Saturated Regulators for Robot Manipulators

F.H. Ramrez, F. Reyes, and R. Salazar (Mexico)


Robotics. Direct-drive Robot. Saturated controllers. Lya punov function. Asymptotically stability.


In this paper, we propose a new family of saturated con trollers with gravity compensation for the position con trol problem of robot manipulators. We demonstrate that the controller is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. We present real-time experimental results on a two-degrees-freedom direct drive robot manipulator to show the controller performance.

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