A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators
This article addresses the joint position control of torque-driven robot manipulators under actuators subject to torque saturation. Robots having viscous friction, but without gravity vector, are considered. By assuming a static model for the torque actuator (specifically, a model of nonlinear and n...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-02-01
|
| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814016628492 |