A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
A Zavala-Rio, V Santibanez - IEEE Transactions on Robotics, 2007 - ieeexplore.ieee.org
… In this paper, a natural saturating extension of the PD with desired gravity compensation (PDdgc)
control law for the global regulation of robot manipulators with bounded inputs was …
control law for the global regulation of robot manipulators with bounded inputs was …
A natural extension of the pd-with-desired-gravity-compensation control law for robot manipulators with input saturations
A Zavala-Río, V Santibáñez - IFAC Proceedings Volumes, 2006 - Elsevier
… a natural saturating extension of the PD with desired gravity compensation (PDdgc) control
law for … First, it involves a single saturation function at each joint. Second, it does not need to …
law for … First, it involves a single saturation function at each joint. Second, it does not need to …
A natural saturating extension of the PD-with-desired-gravity-compensation control law for robot manipulators with bounded inputs
V Santibanez, A Zavala Río - 2007 - repositorio.ipicyt.edu.mx
… Abstract—This work proposes a natural saturating extension of the PD with desired gravity
compensation (PDdgc) control law … In this work, a natural saturating extension of the …
compensation (PDdgc) control law … In this work, a natural saturating extension of the …
A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints
Y Su, C Zheng, P Mercorelli - 2017 IEEE International …, 2017 - ieeexplore.ieee.org
… proposed in this paper involves some special types of saturation functions fitting the …
Santibanez, “Simple extensions of the PD-with-desired-gravity-compensation control law for …
Santibanez, “Simple extensions of the PD-with-desired-gravity-compensation control law for …
Iterative learning control with desired gravity compensation under saturation for a robotic machining manipulator
H Ernesto, JO Pedro - Mathematical Problems in Engineering, 2015 - Wiley Online Library
… The work thus presented in this paper forms the basis of the design and development of
hybrid control with learning algorithm. Future research directions will include extending the …
hybrid control with learning algorithm. Future research directions will include extending the …
Semiglobal asymptotic stability of nonlinear PD-type plus gravity compensation controllers for input-saturated robot manipulators
M Jiménez-Quiroz, J Moyrón… - … Decision and Control …, 2021 - ieeexplore.ieee.org
… Santibánez, “A natural saturating extension of the PD-with-desired-gravity-compensation
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, no. …
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, no. …
Improvements on saturating PD with gravity compensation control for robotic manipulators
D Zhao, S Li, F Gao - 2009 7th Asian Control Conference, 2009 - ieeexplore.ieee.org
… A natural saturating extension of PD with desired gravity compensation is proposed by
literature [12]. This … Though the control approaches proposed by [11] and [12] extend existing …
literature [12]. This … Though the control approaches proposed by [11] and [12] extend existing …
[PDF][PDF] Research Article Iterative Learning Control with Desired Gravity Compensation under Saturation for a Robotic Machining Manipulator
H Ernesto, JO Pedro - 2015 - academia.edu
… , “A natural saturating extension of the PD-with-desired-gravity-compensation control law for
… Santibánez, “Simple extensions of the PD with gravity compensation control law for robot …
… Santibánez, “Simple extensions of the PD with gravity compensation control law for robot …
On stability of a nonlinear PID-like controller with gravity compensation for input-saturated robot manipulators
M Jimenéz-Quiroz, J Moyrón… - … on Control …, 2021 - ieeexplore.ieee.org
… Santibanez, “A natural saturating extension of the PD-with-desired-gravity-compensation
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, pp. …
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, pp. …
Stability of robot manipulators under saturated PID compensation
J Alvarez-Ramirez, V Santibanez… - … Transactions on Control …, 2008 - ieeexplore.ieee.org
… Santibañez, “A natural saturating extension of the PD-with-desired-gravity-compensation
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, no. …
control law for robot manipulators with bounded inputs,” IEEE Trans. Robot., vol. 23, no. …