An asinh-type regulator for robot manipulators with global asymptotic stability
In this paper, a new asinh-type control scheme with gravity compensation for the position control problem of robot manipulators in joint space is presented. The properties and characteristics of the asinh control structure make the position error and the motion velocity asymptotically converge to th...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Taylor & Francis Group
2020-10-01
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| Series: | Automatika |
| Subjects: | |
| Online Access: | http://dx.doi.org/10.1080/00051144.2020.1796111 |