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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