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A generalized scheme for the global adaptive regulation of robot manipulators with bounded inputs

Published online by Cambridge University Press:  14 May 2013

D. J. López-Araujo ,
A. Zavala-Río ,
V. Santibáñez  and
F. Reyes
D. J. López-Araujo
Affiliation:
Instituto Potosino de Investigación Científica y Tecnológica, Camino a la Presa San José 2055, Lomas 4a. Sección 78216, San Luis Potosí, S.L.P., Mexico
A. Zavala-Río*
Affiliation:
Instituto Potosino de Investigación Científica y Tecnológica, Camino a la Presa San José 2055, Lomas 4a. Sección 78216, San Luis Potosí, S.L.P., Mexico
V. Santibáñez
Affiliation:
Instituto Tecnológico de la Laguna, Apdo. Postal 49, Adm. 1, 27001 Torreón, Coah., Mexico
F. Reyes
Affiliation:
Benemérita Universidad Autónoma de Puebla, Blvd. Puebla 108, Bosques de San Sebastián 72310, Puebla, Pue., Mexico
*
*Corresponding author. E-mail: azavala@ipicyt.edu.mx
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Summary

In this work, a generalized adaptive control scheme for the global position stabilization of robot manipulators with bounded inputs is proposed. It gives rise to various families of bounded controllers with adaptive gravity compensation. Compared with the adaptive approaches previously developed in a bounded-input context, the proposed scheme guarantees the adaptive regulation objective: globally, avoiding discontinuities in the control expression as well as in the adaptation auxiliary dynamics, preventing the inputs to reach their natural saturation bounds, and imposing no saturation-avoidance restriction on the control gains. Experimental results corroborate the efficiency of the proposed adaptive scheme.

Keywords

Robot controlAdaptive controlGlobal regulationBounded inputsSaturations

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Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1103 - 1117
Copyright
Copyright © Cambridge University Press 2013 

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