F. Reyes, E. Espinosa, and J. Barahona (Mexico)
Direct–drive Robot, Saturated controllers, Lyapunov function, Asymptotic stability
In this article, we propose a new family of saturated controllers with gravity compensation for the position control problem of robot manipulators. We have demon strated by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed–loop system is globally asymptotically stable through the Lyapunov’s direct method together with LaSalle invariance principle. Experimental Comparison of four controllers of the new family is presented on a three–degrees–of– freedom direct drive robot manipulator.
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