Cartesian Controllers for Robot Manipulators

P. Sánchez-Sánchez and F. Reyes-Cortés (Mexico)


Cartesian Controller, Jacobian Transposed Controller, E nergy Shaping, Artificial Potential Energy, DRILL-BOT.


In this paper we describe an experimental cartesian robot for research and development of robot control algorithms. This system allows the development and easy test of carte sian control strategies on a three degrees of freedom. The functionality of this system is explained via real time ex perimental results of a new position cartesian control al gorithm with global asymptotic stability of the closed loop system.

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