Family of Bounded Regulators with Variable Gains and Lyapunov Asymptotic Stability for Robot Manipulators
IEEE Latin America Transactions(2022)
摘要
In this paper, the regulation problem for robot manipulators in joint space through the proposal of a new family of bounded regulators with variable gains is presented. The proposed regulators have bounded functions that replace the classical position error and the velocity; moreover, the variable gains are formed by a family of Lipchitz functions with the position error and the velocity as their ...
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关键词
Robots,Regulators,Manipulators,Gain,Asymptotic stability,Proposals,IEEE transactions
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