Stable computed-torque control of robot manipulators via fuzzy self-tuning

摘要: Computed-torque control is a well-known motion strategy for manipulators which ensures global asymptotic stability fixed symmetric positive definite (proportional and derivative) gain matrices. In this paper, we show that also holds class of matrices depending on the manipulator state. This feature increases potential computed-torque scheme to handle practical constraint in actual robots such as presence friction joints actuators with limited torque capabilities. We illustrate by means fuzzy self-tuning algorithm select proportional derivative gains according tracking position error. Experiments two degrees freedom robot arm usefulness proposed approach.