Matches in SemOpenAlex for { <https://semopenalex.org/work/W3035869439> ?p ?o ?g. }
Showing items 1 to 91 of
91
with 100 items per page.
- W3035869439 endingPage "114783" @default.
- W3035869439 startingPage "114773" @default.
- W3035869439 abstract "Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots." @default.
- W3035869439 created "2020-06-25" @default.
- W3035869439 creator A5005282976 @default.
- W3035869439 creator A5065156490 @default.
- W3035869439 creator A5072146846 @default.
- W3035869439 date "2020-01-01" @default.
- W3035869439 modified "2023-10-12" @default.
- W3035869439 title "A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators" @default.
- W3035869439 cites W1496777766 @default.
- W3035869439 cites W1534096605 @default.
- W3035869439 cites W1974134013 @default.
- W3035869439 cites W1979856824 @default.
- W3035869439 cites W1981903648 @default.
- W3035869439 cites W2048184451 @default.
- W3035869439 cites W2048603489 @default.
- W3035869439 cites W2056996905 @default.
- W3035869439 cites W2079336331 @default.
- W3035869439 cites W2084828843 @default.
- W3035869439 cites W2108985661 @default.
- W3035869439 cites W2148073928 @default.
- W3035869439 cites W2154892481 @default.
- W3035869439 cites W2765352751 @default.
- W3035869439 cites W2771583024 @default.
- W3035869439 cites W2943966366 @default.
- W3035869439 cites W2956146357 @default.
- W3035869439 cites W2982448199 @default.
- W3035869439 cites W3000218989 @default.
- W3035869439 cites W3010881847 @default.
- W3035869439 cites W3024744364 @default.
- W3035869439 doi "https://doi.org/10.1109/access.2020.3003842" @default.
- W3035869439 hasPublicationYear "2020" @default.
- W3035869439 type Work @default.
- W3035869439 sameAs 3035869439 @default.
- W3035869439 citedByCount "20" @default.
- W3035869439 countsByYear W30358694392021 @default.
- W3035869439 countsByYear W30358694392022 @default.
- W3035869439 countsByYear W30358694392023 @default.
- W3035869439 crossrefType "journal-article" @default.
- W3035869439 hasAuthorship W3035869439A5005282976 @default.
- W3035869439 hasAuthorship W3035869439A5065156490 @default.
- W3035869439 hasAuthorship W3035869439A5072146846 @default.
- W3035869439 hasBestOaLocation W30358694391 @default.
- W3035869439 hasConcept C11171543 @default.
- W3035869439 hasConcept C127413603 @default.
- W3035869439 hasConcept C133731056 @default.
- W3035869439 hasConcept C154945302 @default.
- W3035869439 hasConcept C15744967 @default.
- W3035869439 hasConcept C203479927 @default.
- W3035869439 hasConcept C2775924081 @default.
- W3035869439 hasConcept C2780023022 @default.
- W3035869439 hasConcept C2985527887 @default.
- W3035869439 hasConcept C41008148 @default.
- W3035869439 hasConcept C47446073 @default.
- W3035869439 hasConcept C6557445 @default.
- W3035869439 hasConcept C86803240 @default.
- W3035869439 hasConcept C90509273 @default.
- W3035869439 hasConceptScore W3035869439C11171543 @default.
- W3035869439 hasConceptScore W3035869439C127413603 @default.
- W3035869439 hasConceptScore W3035869439C133731056 @default.
- W3035869439 hasConceptScore W3035869439C154945302 @default.
- W3035869439 hasConceptScore W3035869439C15744967 @default.
- W3035869439 hasConceptScore W3035869439C203479927 @default.
- W3035869439 hasConceptScore W3035869439C2775924081 @default.
- W3035869439 hasConceptScore W3035869439C2780023022 @default.
- W3035869439 hasConceptScore W3035869439C2985527887 @default.
- W3035869439 hasConceptScore W3035869439C41008148 @default.
- W3035869439 hasConceptScore W3035869439C47446073 @default.
- W3035869439 hasConceptScore W3035869439C6557445 @default.
- W3035869439 hasConceptScore W3035869439C86803240 @default.
- W3035869439 hasConceptScore W3035869439C90509273 @default.
- W3035869439 hasFunder F4320321694 @default.
- W3035869439 hasLocation W30358694391 @default.
- W3035869439 hasOpenAccess W3035869439 @default.
- W3035869439 hasPrimaryLocation W30358694391 @default.
- W3035869439 hasRelatedWork W1486179716 @default.
- W3035869439 hasRelatedWork W1965033952 @default.
- W3035869439 hasRelatedWork W1991899812 @default.
- W3035869439 hasRelatedWork W2032904427 @default.
- W3035869439 hasRelatedWork W2112027397 @default.
- W3035869439 hasRelatedWork W2352837151 @default.
- W3035869439 hasRelatedWork W2365785480 @default.
- W3035869439 hasRelatedWork W2393509435 @default.
- W3035869439 hasRelatedWork W2613933697 @default.
- W3035869439 hasRelatedWork W2182011417 @default.
- W3035869439 hasVolume "8" @default.
- W3035869439 isParatext "false" @default.
- W3035869439 isRetracted "false" @default.
- W3035869439 magId "3035869439" @default.
- W3035869439 workType "article" @default.