Velocity field control of robot manipulators by using only position measurements

DOI10.1016/j.jfranklin.2007.05.006zbMath1167.93386OpenAlexW2008889363MaRDI QIDQ2271559

Javier Moreno-Valenzuela

Publication date: 7 August 2009

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.jfranklin.2007.05.006

zbMATH Keywords

stabilityLyapunov functionposition measurementsoperational spacevelocity field control

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items

Average consensus in networks of dynamic agents with uncertain topologies and time-varying delays

Cites Work

• Unnamed Item
• Unnamed Item
• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
• Theory of robot control
• Modelling and control of robot manipulators.
• Manipulator motion control in operational space using joint velocity inner loops
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• Passive velocity field control (PVFC). Part I. Geometry and robustness
• Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems