Home >>  Electronics  >>  Global Positioning of Robot Manipulators

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.

  

You can visit http://www.hbeonlabs.com/projectsguidance.htm and http://www.finalyearstudentprojects.com/ for latest final year engineering projects and guidance for implementing them. You can also download the free synopsis of these project from our website mentioned above. Please forward this to your friend who needs help in their final year projects.