Journal of Intelligent and Robotic Systems

, Volume 51, Issue 1, pp 65–88 | Cite as

A Class of OFT Controllers for Torque-Saturated Robot Manipulators: Lyapunov Stability and Experimental Evaluation

  • Javier Moreno-Valenzuela
  • Víctor Santibáñez
  • Ricardo Campa


The trajectory tracking of robot manipulators is addressed in this paper. Two important practical situations are considered: the fact that robot actuators have limited power, and that only position measurements are carried out. Let us notice that a few solutions for the torque-bounded OFT (output feedback tracking) control has been proposed. In this paper we contribute to this subject by presenting a class of OFT controllers for torque-constrained robots. The theory of singularly perturbed systems is crucial in the analysis of the closed-loop system trajectories. As a second contribution of this paper, we present a detailed experimental study of six control schemes, which were tested in a two degrees-of-freedom direct-drive robot, confirming the advantages of the proposed methodology.


Tracking control Unmeasurable joint velocity Robot manipulator Lyapunov theory Direct-drive robot 


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Copyright information

© Springer Science+Business Media B.V. 2007

Authors and Affiliations

  • Javier Moreno-Valenzuela
    • 1
  • Víctor Santibáñez
    • 2
  • Ricardo Campa
    • 2
  1. 1.Centro de Investigación y Desarrollo de Tecnología Digital del IPN, CITEDI-IPNTijuanaMexico
  2. 2.Instituto Tecnológico de La LagunaTorreónMexico

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