Title :
Control of nonlinear robotic manipulators
Author :
Sinha, A.S.C. ; Lyshevski, Sergey Edward
Author_Institution :
Dept. of Electr. Eng., Purdue Univ., Indianapolis, IN, USA
Abstract :
This paper develops an innovative design procedure using the Lyapunov stability theory. In particular, nonlinear control laws are synthesized for rigid robotic manipulators. The technique deals explicitly with nonlinear robot models, and develops the controller for nonlinear manipulators. An example illustrates the design for two-degree-of-freedom planar robot
Keywords :
manipulator dynamics; 2-DOF planar robot; Lyapunov stability; dynamics; nonlinear control systems; nonlinear manipulators; tracking; Differential equations; Erbium; Feedback; Lyapunov method; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Service robots; Stability;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650739
