Manipulator motion control in operational space using joint velocity inner loops

DOI10.1016/j.automatica.2005.03.008zbMath1086.93046OpenAlexW2155564215MaRDI QIDQ2576141

Javier Moreno, Rafael Kelly

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

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

Related Items (11)

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

Cites Work

• On global uniform asymptotic stability of nonlinear time-varying systems in cascade
• Global uniform asymptotic stability of cascaded non-autonomous nonlinear systems: Application to stabilisation of a Diesel engine.
• Theory of robot control
• Modelling and control of robot manipulators.
• Constructive nonlinear control
• Applications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
• Dynamic control of redundant manipulators
• Comments on "Adaptive manipulator control: a case study" by J. Slotine and W. Li
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