A new position controller: Pascal's Cartesian controllers

Authors:
Pablo Sánchez-Sánchez;Fernando Reyes-Cortés;Jaime Cid-Monjaraz
Affiliations:
Autonomous University of Puebla, F. C. E., Posgrado en Automatización, Puebla, México;Autonomous University of Puebla, F. C. E., Posgrado en Automatización, Puebla, México;Autonomous University of Puebla, F. C. E., Posgrado en Automatización, Puebla, México
Venue:
CONTROL'05 Proceedings of the 2005 WSEAS international conference on Dynamical systems and control
Year:
2005

Citing 4
Cited 0

Experimental comparison of parameter estimation methods in adaptive robot control

Automatica (Journal of IFAC)
Force/position regulation for robot manipulators with unmeasurable velocities and uncertain gravity

Automatica (Journal of IFAC)
Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Modelling and Control of Robot Manipulators

Modelling and Control of Robot Manipulators

Quantified Score

Hi-index	0.00

Visualization

Abstract

The paper's main objective is to propose a new controller for robot manipulators on Cartesian Coordinates with formal stability proof. To verify the proposed controller's behavior we need to compare it against the Cartesian PD controller, this comparison is accomplish by means of the Performance Index method that is an advantage to obtain a Scalar value of the sum of the error.