Published January 1, 2022 | Version v1
Journal article Open

Desired model compensation-based position constrained control of robotic manipulators

  • 1. Gebze Tech Univ, Dept Comp Engn, TR-41400 Kocaeli, Turkey
  • 2. Ege Univ, Dept Elect & Elect Engn, TR-35100 Izmir, Turkey
  • 3. Gebze Tech Univ, Inst Informat Technol, TR-41400 Kocaeli, Turkey

Description

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.

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