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Desired model compensation-based position constrained control of robotic manipulators

Published online by Cambridge University Press:  14 May 2021

Samet Gul ,
Erkan Zergeroglu Open the ORCID record for Erkan Zergeroglu [Opens in a new window] ,
Enver Tatlicioglu Open the ORCID record for Enver Tatlicioglu [Opens in a new window]  and
Mesih Veysi Kilinc
Samet Gul
Affiliation:
Department of Computer Engineering, Gebze Technical University, 41400, Gebze, Kocaeli, Turkey
Erkan Zergeroglu*
Affiliation:
Department of Computer Engineering, Gebze Technical University, 41400, Gebze, Kocaeli, Turkey
Enver Tatlicioglu
Affiliation:
Department of Electrical & Electronics Engineering, Ege University, 35100, Bornova, Izmir, Turkey
Mesih Veysi Kilinc
Affiliation:
Institute of Information Technologies, Gebze Technical University, 41400, Gebze, Kocaeli, Turkey
*
*Corresponding author. Email: e.zerger@gtu.edu.tr
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Abstract

This work presents the design and the corresponding stability analysis of a desired model-based, joint position constrained, controller formulation for robotic manipulators. Specifically, provided that the initial joint position tracking error signal starts within some predefined region, the proposed controller ensures that the joint tracking error signal remains inside this region and approaches to zero asymptotically. Extensive numerical simulations and experimental studies performed on a two-link direct-drive planar robot are provided in order to illustrate the effectiveness and feasibility of the proposed controller.

Keywords

Robotic manipulatorsPosition constraintFull-state feedbackLyapunov-based approach
Type
Article
Information
Robotica , Volume 40 , Issue 2 , February 2022 , pp. 279 - 293
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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