论文标题
所需的基于模型补偿的位置受到机器人操纵器的控制
Desired Model Compensation based Position Constrained Control of Robotic Manipulators
论文作者
论文摘要
这项工作介绍了基于所需模型的，联合位置约束，机器人控制器的设计和相应的稳定性分析。具体而言，前提是初始关节位置跟踪误差信号始于某些预定义值以下，则提出的控制器确保关节跟踪误差信号保留在区域内（由预定义的上限定义），并渐近地达到零。
This work presents the design and the corresponding stability analysis of desired model based, joint position constrained, robot controller. Specifically, provided that the initial joint position tracking error signal starts below some predefined value, the proposed controller ensures that the joint tracking error signal remains inside the region (defined by predefined upper--bound) and approaches to zero asymptotically.
