Home >>  Electronics  >>  Global Positioning of Robot Manipulators

Global Positioning of Robot Manipulators
| Views: 4047


 

The existing controllers for robot manipulators with uncertain gravitational force can globally stabilize only robot manipulators with revolute joints. The main obstacles to the global stabilization of robot manipulators with mixed revolute and prismatic joints are unboundedness of the inertia matrix and the Jacobian of the gravity vector. In this note, a class of globally stable controllers for robot manipulators with mixed revolute and prismatic joints is proposed. The global asymptotic stabilization is achieved by adding a nonlinear proportional and derivative term to the linear proportional–integral-derivative (PID) controller. By using Lyapunov's direct method, the explicit conditions on the controller parameters to ensure global asymptotic stability are obtained.
Vote: Tell A Friend
Reply With Quote  

 

  
sir, please send the complete document and component , thank u
Reply With Quote   Reply With Quote

 

  

pls end me complete document and component

on this mail deck_27787@yahoo.com 

Reply With Quote   Reply With Quote

 

  
hello sir....could u plz send me detailed project on my email ID gurpreetk_11@yahoo.com
Reply With Quote   Reply With Quote
Page 1 of 1