Title :
A New Control Structure for Robot Manipulators Based on the Trigonometric Functions Sech+Sinh
Author :
Lopez-Perez, E. ; Sanchez-Sanchez, P. ; Michua-Camarillo, A. ; Reyes-Cortes, F. ; Cebada-Reyes, J.G.
Author_Institution :
Autonomous Univ. of Puebla, Puebla
fDate :
Sept. 30 2008-Oct. 3 2008
Abstract :
The main objective of this paper is to control the position of a robot manipulator by means of the implementation of a new control scheme based on the combination of hyperbolic trigonometrical functions. In order to accomplish the control we used the method of shaping energy; and by means of the Lyapunovpsilas theory its stability is demonstrated formally. It is important to compare the functionality of the proposed controller, for this reason is compared with the simple PD controller, this analysis is made based on the performance index having solved the norm L2.
Keywords :
Lyapunov methods; computational geometry; manipulators; position control; stability; Lyapunov theory; hyperbolic trigonometrical function; position control; robot manipulator; system stability; Control systems; Displacement control; Equations; Lagrangian functions; Manipulator dynamics; Robot control; Service robots; Torque control; Vehicle dynamics; Velocity control;
Conference_Titel :
Electronics, Robotics and Automotive Mechanics Conference, 2008. CERMA '08
Conference_Location :
Morelos
Print_ISBN :
978-0-7695-3320-9
DOI :
10.1109/CERMA.2008.102
