@misc{Rodríguez-Linán_María_del_Carmen_Saturating,
 author={Rodríguez-Linán, María del Carmen and Mendoza, Marco and Bonilla, Isela and Chávez-Olivares, César},
 howpublished={online},
 publisher={Zielona Góra: Uniwersytet Zielonogórski},
 language={eng},
 abstract={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.},
 type={artykuł},
 title={Saturating stiffness control of robot manipulators with bounded inputs},
 keywords={bounded inputs, robot manipulator, saturation, stiffness control},
}