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Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 10

Tham khảo tài liệu 'control of robot manipulators in joint space - r. kelly, v. santibanez and a. loria part 10', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Bibliography 259 For any selection of the symmetric positive definite matrices Kp and Kv the origin of the closed-loop equation of robots with the PD control law . rT ZT IT with compensation expressed in terms of the state vector q q is globally uniformly asymptotically stable. Therefore the PD control law with compensation satisfies the motion control objective globally. This implies in particular that for any initial position error ặ 0 e IR and any velocity error ặ 0 e IR we have IÍIII -x ặ í 0. For any choice of the symmetric positive definite matrices Kp and Kv the origin of the closed-loop equation of a robot with the PD control law r7 zT t expressed in terms of the state vector q q is globally uniformly asymptotically stable. Therefore. PD ehntrol satisfies the metier control objective globally. In particular for any initial position error ặ 0 e IR and velocity error ặ 0 e IR we have lrnit- 00 q t 0. Bibliography Theslmdure of thePDcontroilew riir compensatiohliasbeenproposod andrtudiodin at e T r R bh a .re Fotpfe J- J-.Li W. t98aahn e adhphvicontisorpfrobot rnaptopulators h The International Journal of Robotics Research Vol. 6 No. 3 pp. 49-59. r dj. n o crrSi rre oti . 7 s tb Slotine J. J. Li w. 1988. Adaptive manipulator control A case study sEEE D ansactiens on Automata hontro 1 Vol. AC-33 Nr.n Novnmbrr. pp.rei-iopr. ri h t TTir. i ut cu . I 8 ir.ioe i TT rr rlotìneJ. J. Lpw. HW Apphednofilinurcoufrol seietice-iieAl. The Lyapunov function 11.3 for the analysis of global uniform asymptotic stability for the PD control law with compensation was proposed in _ 7 77 7 7 7 7 _ 2 Spong M. Ortega R. Kelly R. 1990 Comments on Adaptive manip-uMorcohrol o case Mr Ill I hOansrdiont dr Automatic Crutehl Vol.3h No. 6 June pp.761-762. Egeland o. Godhavn J. M. 1994 A note on Lyapunov stability for an adaptiserobotcohtroller lEEETransactionsonAutomaticControl Vol. 09 No. 8 Purott pp. I or gob. __ h__ at . lhestoLPfuteotfOePOO-tattrol irw was propoeedrn .