Manipulator motion control in operational space using joint velocity inner loops

DOI10.1016/J.AUTOMATICA.2005.03.008MaRDI QIDQ2576141zbMATHOpenAlexFDO

Authors Rafael Kelly, Javier Moreno

Publication date 8 December 2005

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.automatica.2005.03.008

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85) Stabilization of systems by feedback (93D15)

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Cites work

• scientific article; zbMATH DE number 439900 (Why is no real title available?)
• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• scientific article; zbMATH DE number 1284116 (Why is no real title available?)
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
• Constructive nonlinear control
• Dynamic control of redundant manipulators
• Global uniform asymptotic stability of cascaded non-autonomous nonlinear systems: Application to stabilisation of a Diesel engine.
• Modelling and control of robot manipulators.
• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
• Theory of robot control

Cited in

(12)

• Position control of a 3-CPU spherical parallel manipulator
• Task-space control for industrial robot manipulators with unknown inner loop control architecture
• Robust saturated PI joint velocity control for robot manipulators
• A new bounded kinematic controller for operational space motion of manipulators
• Constraint finite-time control of redundant manipulators
• Velocity field control of robot manipulators by using only position measurements
• Modified transpose Jacobian control of robotic systems
• Velocity field control of a class of electrically-driven manipulators
• Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space
• Finite-time trajectory tracking control in a task space of robotic manipulators
• A quasi-velocity-based nonlinear controller for rigid manipulators
• Trajectory tracking double two-loop adaptive neural network control for a quadrotor

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