A position controller's evaluation using a cartesian robot and a joint robot arm

被引：0
|
作者：
Sanchez-Sanchez, Pablo [1 ]
Reyes-Cortes, Fernando [1 ]
机构：
[1] Autonomous Univ Puebla, FCE Posgrad Automatizac, Puebla, Mexico
来源：
PROCEEDINGS OF THE 12TH IASTED INTERNATIONAL CONFERENCE ON ROBOTICS AND APPLICATIONS | 2006年
关键词：
cartesian controller; Jacobian transposed controller; DRILL-BOT; energy shaping; artificial potential energy; performance index;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The main objective of this paper is to propose a new controller for robot manipulators on cartesian coordinates with formal stability proof. To verify the proposed controller's behavior we have compared it against the cartesian PD controller using the performance index method. In the experimental evaluation of the proposed controller we used a cartesian robot and a joint robot arm.
引用
收藏
页码：150 / +
页数：3
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