Resumen
The aim of this short paper is to study the stability of energy-shaping controllers for the regulation problem of robot manipulators with a vision-based feedback. Under the assumption of uncertain gravitational torques, it is shown that a classical integral action in composition with the transpose Jacobian matrix suffices to obtain asymptotic stability. The performance of proposed strategy is evaluated experimentally in a two degree-of-freedom robot moving on a vertical plane.
Idioma original | Inglés |
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Páginas (desde-hasta) | 132-136 |
Número de páginas | 5 |
Publicación | IEEE/ASME Transactions on Mechatronics |
Volumen | 9 |
N.º | 1 |
DOI | |
Estado | Publicada - mar. 2004 |