![Sample our Computer Science journals, sign in here to start your access, latest two full volumes FREE to you for 14 days]({"type":"image" , "src" : "/sda/5928/TOC-Subject-Sample-2021-Computer-Science.jpg"})
ABSTRACT
In this paper we present a fuzzy adaptation scheme for PD control with gravity compensation of robot manipulators. We demonstrate, by taking into account the full nonlinear and multivariable nature of the robot dynamics, that the overall closed loop system is locally asymptotically stable. Besides the theoretical result, the proposed control scheme has two practical features. First, it compensates for static friction in the robot joints, and second, it considers the real torque actuators capabilities to avoid torque saturation. Experimental results on a two-degree of freedom direct-drive robot show the usefulness of the proposed control approach.
