Global regulation of robots using only position measurements

Harry Berghuis, Henk Nijmeijer

    Research output: Contribution to journalArticleAcademicpeer-review

    150 Citations (Scopus)
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    In this note we propose a simple solution to the regulation problem of rigid robots based on the availability of only joint position measurements. The controller consists of two parts: (1) a gravitation compensation, (2) a linear dynamic first-order compensator. The gravitation compensation part can be chosen to be a function of either the actual joint position or the desired joint position. Both possibilities are aproved to yield global asymptotic stability. Performance issues of the controller are illustrated in a simulation study of a two degrees-of-freedom robot manipulator.
    Original languageEnglish
    Pages (from-to)289-295
    Number of pages7
    JournalSystems and control letters
    Issue number21
    Publication statusPublished - 1993


    • IR-29963
    • METIS-140597

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