Development of An Experimental Platform with Open Architecture for Robots Manipulators

摘要

In this paper we describe an experimental equipment for research and development of robot control algorithms. This system allows the development and easily test of control strategies on a three degrees of freedom direct dirve robot manipulator. The functionality of this system is explained via real time experimetnal results of a new position control algorithm with global asymptotic stability of the closed loop system. The main feature of this new controller is that the proportional gain is a nonlinear function of the position error.