Year: 2012
Type: conference-paper
Abstract: In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stabilityand the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the robustness and the safety of the proposed approach.
Source: Procedia Engineering
Authors: Haifa Mehdi, Olfa Boubaker
Institution: National Institute of Applied Science and Technology
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W2039476122