Saturating stiffness control of robot manipulators with bounded inputs
International Journal of Applied Mathematics and Computer Science, Tome 27 (2017) no. 1, p. 79.

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A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces. The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.
Mots-clés : bounded inputs, robot manipulator, saturation, stiffness control 
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     author = {Mar{\'\i}a del Carmen Rodr{\'\i}guez-Li\~n\'an and Marco Mendoza and Isela Bonilla and C\'esar A. Ch\'avez-Olivares},
     title = {Saturating stiffness control of robot manipulators with bounded inputs},
     journal = {International Journal of Applied Mathematics and Computer Science},
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     publisher = {mathdoc},
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     number = {1},
     year = {2017},
     language = {en},
     url = {https://geodesic-test.mathdoc.fr/item/IJAMCS_2017__27_1_288097/}
}
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María del Carmen Rodríguez-Liñán; Marco Mendoza; Isela Bonilla; César A. Chávez-Olivares. Saturating stiffness control of robot manipulators with bounded inputs. International Journal of Applied Mathematics and Computer Science, Tome 27 (2017) no. 1, p. 79. https://geodesic-test.mathdoc.fr/item/IJAMCS_2017__27_1_288097/