Ngo, Khoi; Mahony, Robert
This paper presents a bounded torque control design to solve the set-point regulation problem for robot manipulators subject to joint velocity constraints. The control objectives are achieved by exploiting the passivity properties of the system and utilizing barrier function ideas to reshape the control Lyapunov function. The structure of the modified control Lyapunov function is reminiscent of those used in the artificial potential field method. The resulting controllers are modified...[Show more]
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