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A note on bounded-input feedback global stabilization of robot manipulators

✍ Scribed by J. Álvarez-Ramírez; J. Solís-Daun; R. Femat

Publisher
Elsevier Science
Year
1997
Tongue
English
Weight
341 KB
Volume
10
Category
Article
ISSN
0893-9659

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✦ Synopsis

The aim of this note is to give a Lyapunov-based proof to the intuitive idea that an n-link robot manipulator can be globally stabilized if torque input bounds are greater than the gravitational forces.

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