A new bounded kinematic controller for operational space motion of manipulators

DOI10.1016/J.MECHRESCOM.2010.08.001MaRDI QIDQ366607zbMATH OpenOpenAlexFDO

Authors Javier Moreno-Valenzuela, Carlos Torres-Torres

Publication date 13 September 2013

Published in Mechanics Research Communications (Search for Journal in Brave)

Full work available at URL http://www.sciencedirect.com/science/article/pii/S0093641310001229

zbMATH Keywords

motion controlbounded accelerationdirect-drive robotkinematic controlleroperational space

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Control of mechanical systems (70Q05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• scientific article; zbMATH DE number 53595 (Why is no real title available?)
• A quasi-velocity-based nonlinear controller for rigid manipulators
• Adaptive output feedback control of nonlinear systems represented by input-output models
• Globally asymptotically stable ‘PD+’ controller for robot manipulators
• Growth rate conditions for uniform asymptotic stability of cascaded time-varying systems
• Manipulator motion control in operational space using joint velocity inner loops
• Modelling and control of robot manipulators.
• Neural-network-based two-loop control of robotic manipulators including actuator dynamics in task space
• Theory of robot control
• Velocity control of robot manipulators: Analysis and experiments

Cited in

(1)

• Manipulator motion control in operational space using joint velocity inner loops

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