Chattering position-control for robot manipulators with elastic and frictional joints

  • Authors:

  • Luis T. Aguilar

  • Affiliations:

  • CITEDI-IPN Research Center, San Diego, CA

  • Venue:
  • ICAI'05/MCBC'05/AMTA'05/MCBE'05 Proceedings of the 6th WSEAS international conference on Automation & information, and 6th WSEAS international conference on mathematics and computers in biology and chemistry, and 6th WSEAS international conference on acoustics and music: theory and applications, and 6th WSEAS international conference on Mathematics and computers in business and economics
  • Year:
  • 2005

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Abstract

For the present paper, we developed an output feedback chattering position regulator for n-degrees-of-freedom (DOF) robot manipulators with elastic and frictional joints. A stability analysis of the closed-loop dynamic system in question was developed within the framework of Lyapunov functions. Performance issues related to the chattering regulator are illustrated in numerical simulations and experimental study applied to a 2-DOF and a 1-DOF robot manipulator respectively.