A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs

Zavala‐Río, Arturo; Santibáñez, V.

doi:10.1109/tro.2007.892224

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A Natural Saturating Extension of the PD-With-Desired-Gravity-Compensation Control Law for Robot Manipulators With Bounded Inputs

Shared by NobleBlocks on Apr 1, 2007 • 12:00 AM UTC

Authors:

Arturo Zavala‐Río

V. Santibáñez

Abstract

<para xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> This paper proposes a natural saturating extension of the proportional-derivative (PD) with desired gravity compensation (PD<emphasis emphasistype="boldital">d</emphasis>gc) control law for the global re...

Subject

Bounded function

Extension (predicate logic)

Control theory (sociology)

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