Manipulator motion control in operational space using joint velocity inner loops

Automatica

Volumn 41, Issue 8, 2005, Pages 1423-1432

  Kelly, Rafael ^a   Moreno, Javier ^b  

^a Adm 1   (Mexico)

^b UNIVERSITY OF LIÈGE   (Belgium)

Author keywords

Cascade systems stability; Direct drive robot; Exponential stability; Manipulator control; Operational space

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; CONTROL EQUIPMENT; CONTROL SYSTEM ANALYSIS; FEEDBACK CONTROL; KINEMATICS; MANIPULATORS; ROBOTIC ARMS; ROBOTS; TRACKING (POSITION); TRAJECTORIES;

CASCADE SYSTEMS STABILITY; DIRECT-DRIVE ROBOT; EXPONENTIAL STABILITY; MANIPULATOR CONTROL; OPERATIONAL SPACE;

MOTION CONTROL;

EID: 20144381653     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2005.03.008     Document Type: Article

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