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<dc:title xml:lang="pl"><![CDATA[Saturating stiffness control of robot manipulators with bounded inputs]]></dc:title>
<dc:creator><![CDATA[Rodríguez-Linán, María del Carmen]]></dc:creator>
<dc:creator><![CDATA[Mendoza, Marco]]></dc:creator>
<dc:creator><![CDATA[Bonilla, Isela]]></dc:creator>
<dc:creator><![CDATA[Chávez-Olivares, César]]></dc:creator>
<dc:subject xml:lang="pl"><![CDATA[bounded inputs]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[robot manipulator]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[saturation]]></dc:subject>
<dc:subject xml:lang="pl"><![CDATA[stiffness control]]></dc:subject>
<dc:description xml:lang="pl"><![CDATA[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.]]></dc:description>
<dc:publisher><![CDATA[Zielona Góra: Uniwersytet Zielonogórski]]></dc:publisher>
<dc:contributor><![CDATA[Korbicz, Józef (1951- ) - red.]]></dc:contributor>
<dc:contributor><![CDATA[Uciński, Dariusz - red.]]></dc:contributor>
<dc:date><![CDATA[2017]]></dc:date>
<dc:type xml:lang="pl"><![CDATA[artykuł]]></dc:type>
<dc:identifier><![CDATA[http://www.zbc.uz.zgora.pl/repozytorium/Content/85637/AMCS_2017_27_1_6.pdf]]></dc:identifier>
<dc:identifier><![CDATA[https://zbc.uz.zgora.pl/repozytorium/dlibra/publication/100596/edition/85637/content]]></dc:identifier>
<dc:identifier><![CDATA[oai:zbc.uz.zgora.pl:85637]]></dc:identifier>
<dc:source xml:lang="pl"><![CDATA[https://www.amcs.uz.zgora.pl/?action=papers&issue=103]]></dc:source>
<dc:source xml:lang="pl"><![CDATA[AMCS, volume 27, number 1 (2017)]]></dc:source>
<dc:language><![CDATA[eng]]></dc:language>
<dc:relation><![CDATA[oai:zbc.uz.zgora.pl:publication:100596]]></dc:relation>
<dc:rights xml:lang="pl"><![CDATA[Biblioteka Uniwersytetu Zielonogórskiego]]></dc:rights>
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