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Global Positioning of Robot Manipulators
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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.
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plz send me you rproject i am interested in this project
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sir plz... can u send me project details & ckt dia... related 2 this topic......my email id is  hiren9975084861@gmail.com
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plz send me complete details of this project

at 

wahabh@hotmail.com

 

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Sir.

plz send me the  project documents on this email

sbj1811@gmail.com 

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PLease send me the details of the project to my email id satishecacit@rediffmail.com
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