Desired model compensation-based position constrained control of robotic manipulators
Makaleler > Tam Makale · 2021
Yazarlar: Samet Gul, Erkan ZERGEROĞLU, Enver TATLICIOĞLU, MESİH VEYSİ KILINÇ
Robotica, SCI Expanded İndekslerine Giren Dergi, Uluslararası, Wos, 2021, cilt 40, ss 279-293
DOI: 10.1017/s0263574721000527
Özet
Abstract This work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal starts within some predefined region, the proposed controller ensures that the joint tracking error signal remains inside this region and approaches to zero asymptotically. Extensive numerical simulations and experimental studies performed on a two-link direct-drive planar robot are provided in order to illustrate the effectiveness and feasibility of the proposed controller.