A New Class of Energy Based Control Laws for Revolute Robot Arms: Tracking Control, Robustness Enhancement and Adaptive Control

A new class of joint level control laws for all-revolute robot arms is introduced in this paper. The analysis is similar to the recently proposed energy Lyapunov function approach [1, 2], except that the closed loop potential function is shaped in accordance with the underlying joint space topology. By using energy Lyapunov functions with the modified… CONTINUE READING