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

Jose de Jesus Rubio (, Enrique Garcia (, Carlos Aguilar Ibañez (, Cesar Torres (

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

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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