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On the Voltage-based Control of Robot Manipulators Revisited

Alireza Izadbakhsh* and Payam Kheirkhahan
International Journal of Control, Automation, and Systems, vol. 16, no. 4, pp.1887-1894, 2018

Abstract : "In this note, we show that the voltage-based control strategy proposed in the paper [1] cannot be applied and act without assumption of uncertainty in the motor parameters. The fact that robots’ actuators have limited voltage is also considered in both control design and stability analysis. It proves that the closed-loop system is stable, while actuator/joint position tracking errors are uniformly ultimately bounded in agreement with Lyapunov’s direct method in any finite region of the state space. Finally, we show that for the PID control structure reported in the aforementioned paper, stability analysis can be guaranteed without any problem. Simulation results on a Puma560 robot manipulator driven by permanent magnet DC motors indicate the efficiency of proposed method."

Keyword : Electrically driven robot, robust control, uniformly ultimately bounded stability, voltage control strategy

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