Title :
Manipulator motion control in operational space using joint velocity inner loops
Author :
Kelly, Rafael ; Moreno, Javier ; Pérez, Fermín
Author_Institution :
Div. de Fisica Aplicada, CICESE, Ensenada, Mexico
Abstract :
An operational space motion control scheme based on velocity feedback inner loops is considered in this paper. This scheme uses kinematic control for providing joint velocity and acceleration commands to an inner joint velocity control loop system. We present an outline of the stability analysis and some experimental results on a two degrees-of-freedom direct-drive arm
Keywords :
acceleration control; control system analysis; feedback; manipulator kinematics; stability; velocity control; 2-DOF direct-drive arm; acceleration commands; inner joint velocity control loop system; joint velocity inner loops; kinematic control; manipulator motion control; operational space; stability analysis; velocity commands; velocity feedback inner loops; Asymptotic stability; Control systems; Feedback loop; Jacobian matrices; Kinematics; Lyapunov method; Motion control; Orbital robotics; Torque control; Velocity control;
Conference_Titel :
Decision and Control, 2001. Proceedings of the 40th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-7061-9
DOI :
10.1109/.2001.980624
