Abstract

In this paper, a nonlinear feedback law for tracking control of robots is proposed. The dynamic of actuators and only position measurements are taking into account to design the control law. The stability results are obtained from the passivity property of the system, and using singular perturbations techniques. Simulation tests are performed on a three degrees-of-freedom serial robot to illustrate our control law.

Volume Subject Area:
17th Biennial Conference on Mechanical Vibration and Noise
Keywords:
robots, actuators, nonlinear feedback law, estimators, tracking
Topics:
Actuators, Feedback, Robots, Tracking control
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