On stability of the resolved acceleration control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2001, Pages 3523-3528

  Campa, R ^a   Kelly, R ^a   Garcia E ^a  

^a CENTRO DE INVESTIGACIÓN CIENTÍFICA Y DE EDUCACIÓN SUPERIOR DE ENSENADA   (Mexico)

Author keywords

Euler parameters; Resolved acceleration; Robot control; Stability; Unit quaternion

Indexed keywords

ACCELERATION CONTROL; ASYMPTOTIC STABILITY; COMPUTER SIMULATION; END EFFECTORS; LYAPUNOV METHODS; MANIPULATORS; MATRIX ALGEBRA; MOTION CONTROL;

EULER PARAMETERS;

ROBOTICS;

EID: 0034867929     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2001.933163     Document Type: Conference Paper

References (14)

1. Closed-loop manipulator control using quaternion feedback
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4. Resolved-acceleration control of robot manipulators: A critical review with experiments
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6. Resolved-acceleration control of mechanical manipulators
7. Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space
8. Strict lyapunov functions for control of robot manipulators