A hierarchical approach to manipulator velocity field control considering dynamic friction compensation

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 128, Issue 3, 2006, Pages 670-674

  Moreno Valenzuela, Javier ^a   Kelly, Rafael ^b  

^a INSTITUTO POLITÉCNICO NACIONAL   (Mexico)

^b Adm 1   (Mexico)

Author keywords

Direct drive robot; Friction; Operational space; Stability; Velocity field control

Indexed keywords

ALGORITHMS; FRICTION; HIERARCHICAL SYSTEMS; MANIPULATORS; PNEUMATIC DRIVES; ROBOT APPLICATIONS;

DIRECT DRIVE ROBOTS; FRICTION COMPENSATION; OPERATIONAL SPACE; VELOCITY FIELD CONTROL;

VELOCITY CONTROL;

EID: 33750050006     PISSN: 00220434     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2234487     Document Type: Article

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