Title :
A new velocity field controller for robot arms
Author :
Valenzuela, Javier Moreno
Author_Institution :
CITEDI-IPN, Tijuana
Abstract :
By using only position measurements, in this paper is discussed a new control algorithm for velocity field control of robot arms. A velocity field defines the robot desired velocity in the operational space as a function of its current position. The introduced algorithm is based on a hierarchical structure that result of using the kinematic control concept and a joint velocity controller
Keywords :
manipulator dynamics; manipulator kinematics; velocity control; hierarchical structure; joint velocity controller; kinematic control; robot arms; velocity field controller; Eigenvalues and eigenfunctions; Friction; Jacobian matrices; Kinematics; Manipulator dynamics; Orbital robotics; Position measurement; Robot control; Symmetric matrices; Velocity control;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641154
