Lat. Am. appl. res.  vol.33 número4; Resumen: S0327-07932003000400005

SciELO - Scientific Electronic Library Online

vol.33 número4Identification of partially known models of the Susqueda hidroelectric power plantQuantized-state control: a method for discrete event control of continuous systems índice de autoresíndice de materiabúsqueda de artículos
Home Pagelista alfabética de revistas  

Servicios Personalizados



  • No hay articulos citadosCitado por SciELO

Links relacionados

  • En proceso de indezaciónCitado por Google
  • No hay articulos similaresSimilares en SciELO
  • En proceso de indezaciónSimilares en Google


Latin American applied research

versión impresa ISSN 0327-0793


MORALES, B.  y  CARELLI, R.. Robot control with inverse dynamics and non-linear gains. Lat. Am. appl. res. [online]. 2003, vol.33, n.4, pp. 393-397. ISSN 0327-0793.

A motion control strategy for robot manipulators, with inverse dynamics and non-linear proportional-derivative gains is presented. On account of a possible interaction of the robot with the environment, impedance is incorporated to modify the robot's motion references according to the interaction force. The gains, that are non-linear state functions, allow to improve robot performance and to prevent actuator saturation. It is proved that an asymptotically stable closed-loop system is obtained with the proposed controller. Simulation results on a 3-dof robot show a good performance of the controller with variable gains, as opposed to that of a constant gain PD controller.

Palabras llave : Robotics; Non-Linear Systems; Motion Control; Impedance Control.

        · texto en Inglés     · pdf en Inglés