### Citations

862 |
Introduction to Robotics: Mechanics and Control,
- Craig
- 1986
(Show Context)
Citation Context ...ial robots are equipped with simple controllers such as (proportional plus derivative) PD or (proportional plus integral plus derivative) PID types which are effective to achieve the positioning goal =-=[1]-=-. However, these controllers assume implicitly that the robot actuators are able to generate the requested torques. In practice it is not possible, because the actuators are constrained to supply limi... |

558 |
Robot Dynamics and Control,
- Spong, Vidyasagar
- 1989
(Show Context)
Citation Context ... experimental results of the proposed controller on a direct–drive arm. Finally, we offer some conclusions in Section 6. 2 Robot Dynamics The dynamics of a serial n-link rigid robot can be written as =-=[5]-=-: M(q)q̈ + C(q, q̇)q̇ + g(q) = τ (1) where q is the n× 1 vector of joint displacements, q̇ is the n × 1 vector of joint velocities, τ is the n × 1 vector of input torques, M(q) is the n × n symmetric ... |

139 |
Passivitybased Control of Euler-Lagrange Systems.
- Ortega, Loria, et al.
- 1998
(Show Context)
Citation Context ...of the closed–loop system, we propose a control algorithm with exponential structure for the position control problem of robot manipulators. In this paper, based on the energy shaping methodology [2] =-=[3]-=- [4], we have demonstrated 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 L... |

53 |
Nonlinear Systems”. Prentice-Hall, Upper Saddle River, NJ,
- Khalil
- 1996
(Show Context)
Citation Context ... and therefore, we conclude stability of the equilibrium point. In order to prove asymptotic stability, we exploit the autonomous nature of the closed–loop equation (5) to apply the LaSalle’s theorem =-=[6]-=-. In the region Ω = {[ q̃ q̇ ] ∈ IR2n : V̇ (q̃, q̇) = 0 } = {q̃ ∈ IRn, q̇ = 0 ∈ IRn} , the unique invariant is q̃ = 0 and q̇ = 0, all solutions of (5) will globally asymptotically converge to Ω as t→∞... |

7 |
Experimental evaluation of identification schemes on a direct drive robot. Robotica 15
- Reyes, Kelly
- 1997
(Show Context)
Citation Context ...ons. The control algorithm runs on a Pentium– II (333 Mhz) host computer. With reference 3 to our direct–drive robot, only the gravitational vector is required to implement the new controller(3) (see =-=[7]-=-). 5 Experimental Results To support our theoretical developments, extensive experimental tests were carried out with the controllers family (3) on a direct– drive robot showed in Figure 1. In the exp... |

4 |
A new set–point controller with bounded torques for
- Santibañez, Kelly
- 1998
(Show Context)
Citation Context ...he closed–loop system, we propose a control algorithm with exponential structure for the position control problem of robot manipulators. In this paper, based on the energy shaping methodology [2] [3] =-=[4]-=-, we have demonstrated 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 Lyapu... |

2 |
Energy shaping based controllers for rigid and elastic joint robots: Analysis via passivity theorems
- Santibanez, Kelly
- 1997
(Show Context)
Citation Context ...ity of the closed–loop system, we propose a control algorithm with exponential structure for the position control problem of robot manipulators. In this paper, based on the energy shaping methodology =-=[2]-=- [3] [4], we have demonstrated 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 t... |