IEEE - Institute of Electrical and Electronics Engineers, Inc. - Finite-time PD control of robot manipulators with adaptive gravity compensation

2016 IEEE Conference on Control Applications (CCA)

Author(s): Juro Fujishiro ; Yoshiro Fukui ; Takahiro Wada
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 September 2016
Conference Location: Buenos Aires, Argentina
Conference Date: 19 September 2016
Page(s): 898 - 904
ISBN (Electronic): 978-1-5090-0755-4
DOI: 10.1109/CCA.2016.7587927
Regular:

We propose a new PD control using adaptive gravity compensation with a finite-time convergence rate for the position control problem in robot manipulators. The control is an extension of the... View More

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