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

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Abstract

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.

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Authors and Affiliations

  1. Centro de Investigación y Desarrollo de Tecnología Digital del IPN, CITEDI-IPN, Ave. del Parque 1310, Mesa de Otay, Tijuana, B.C., 22510, Mexico

    Javier Moreno-Valenzuela

  2. Instituto Tecnológico de La Laguna, Apdo. Postal 49 Adm. 1, Torreón, Coah., 27001, Mexico

    Víctor Santibáñez & Ricardo Campa

Authors
  1. Javier Moreno-Valenzuela
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  2. Víctor Santibáñez
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  3. Ricardo Campa
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Correspondence to Javier Moreno-Valenzuela.

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Moreno-Valenzuela, J., Santibáñez, V. & Campa, R. A Class of OFT Controllers for Torque-Saturated Robot Manipulators: Lyapunov Stability and Experimental Evaluation. J Intell Robot Syst 51, 65–88 (2008). https://doi.org/10.1007/s10846-007-9181-6

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  • DOI: https://doi.org/10.1007/s10846-007-9181-6

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