Estabilización de los brazos robóticos (Stabilization of the robotic arms)

Jose de Jesus Rubio (jrubioa@ipn.mx)2, Enrique Garcia (enriquegarcia@linuxmail.org)2, Carlos Aguilar Ibañez (carlosaguilari@cic.ipn.mx)1, Cesar Torres (cesartorres77@hotmail.com)2


1Instituto Politecnico Nacional, Centro de Investigacion en Computacion
2Instituto Politecnico Nacional, ESIME Azcapotzalco, Seccion de Estudios de Posgrado e Investigacion

This paper appears in: Revista IEEE América Latina

Publication Date: Aug. 2015
Volume: 13,   Issue: 8 
ISSN: 1548-0992


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.

Index Terms:
Proportional-derivative control, robotic arm   


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