Programming Enviroment of Control Algorithms

This paper deals with the position control of robot manipulators and the practical implementation trough a programming environment of control algorithms. A new hyperbolic-type control scheme is proposed. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict Lyapunov function. Simulation results on two degrees-of-freedom robot manipulator and experimental validation on a platform pendulum are provided.