Stabilization of the robotic arms

J. De J. Rubio; E. Garcia; C. Aguilar; C. Torres

doi:10.1109/TLA.2015.7332133

Stabilization of the robotic arms

J. De J. Rubio, E. Garcia, C. Aguilar, C. Torres

Escuela Superior de Ingeniería Mecánica y Eléctrica (ESIME), Unidad Azcapotzalco

Research output: Contribution to journal › Article › peer-review

11 Scopus citations

Abstract

The main contributions of this paper are as follows: 1) a proportional-derivative controller with inverse dead-zone is addressed for the regulation of robotic arms, where the inputs dead-zone is cancelled with the inverse dead-zone, 2) stability of the mentioned technique is assured, and 3) the considered strategy is validated by two examples.

Original language	English
Article number	7332133
Pages (from-to)	2567-2573
Number of pages	7
Journal	IEEE Latin America Transactions
Volume	13
Issue number	8
DOIs	https://doi.org/10.1109/TLA.2015.7332133
State	Published - Aug 2015

Keywords

Proportional-derivative control
robotic arm

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10.1109/TLA.2015.7332133

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title = "Stabilization of the robotic arms",

abstract = "The main contributions of this paper are as follows: 1) a proportional-derivative controller with inverse dead-zone is addressed for the regulation of robotic arms, where the inputs dead-zone is cancelled with the inverse dead-zone, 2) stability of the mentioned technique is assured, and 3) the considered strategy is validated by two examples.",

keywords = "Proportional-derivative control, robotic arm",

author = "Rubio, {J. De J.} and E. Garcia and C. Aguilar and C. Torres",

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year = "2015",

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doi = "10.1109/TLA.2015.7332133",

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AU - Garcia, E.

AU - Aguilar, C.

AU - Torres, C.

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AB - The main contributions of this paper are as follows: 1) a proportional-derivative controller with inverse dead-zone is addressed for the regulation of robotic arms, where the inputs dead-zone is cancelled with the inverse dead-zone, 2) stability of the mentioned technique is assured, and 3) the considered strategy is validated by two examples.

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DO - 10.1109/TLA.2015.7332133

M3 - Artículo

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EP - 2573

JO - IEEE Latin America Transactions

JF - IEEE Latin America Transactions

IS - 8

M1 - 7332133

ER -

Stabilization of the robotic arms

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Keywords

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