Design of a New Position Control Algorithm for Robot Manipulators

F. Reyes and E. Guevara (Mexico)


: Manipulator robot, position regulators, tracking trajectory.


: This paper describes new regulators and controllers with structure nonlinear for position and trajectory tracking of robot manipulators. They are supported by a rigorous stability analysis including the robot dynamics in the closed-loop. Besides the theoretical result, the performance of the regulators is illustrated by experimental results on a two degrees of freedom direct-drive robot manipulator.

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