Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Rodríguez-Liñán, María del Carmen; Mendoza, Marco; Bonilla, Isela; Chávez-Olivares, César A.

doi:10.1515/amcs-2017-0006

Abstract

A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces.

The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.

References

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Saturating Stiffness Control of Robot Manipulators with Bounded Inputs

Abstract

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