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

Javier Moreno-Valenzuela; Rafael Kelly

doi:10.1115/1.2234487

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

Javier Moreno-Valenzuela, Rafael Kelly

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

Original language	English
Pages (from-to)	670-674
Number of pages	5
Journal	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume	128
Issue number	3
DOIs	https://doi.org/10.1115/1.2234487
State	Published - Sep 2006

Keywords

Direct-drive robot
Friction
Operational space
Stability
Velocity field control

Access to Document

10.1115/1.2234487

Cite this

@article{e7e85b186d584fe3a5df1adedaef0ade,

title = "A hierarchical approach to manipulator velocity field control considering dynamic friction compensation",

abstract = "The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.",

keywords = "Direct-drive robot, Friction, Operational space, Stability, Velocity field control",

author = "Javier Moreno-Valenzuela and Rafael Kelly",

year = "2006",

month = sep,

doi = "10.1115/1.2234487",

language = "Ingl{\'e}s",

volume = "128",

pages = "670--674",

journal = "Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME",

issn = "0022-0434",

number = "3",

}

TY - JOUR

T1 - A hierarchical approach to manipulator velocity field control considering dynamic friction compensation

AU - Moreno-Valenzuela, Javier

AU - Kelly, Rafael

PY - 2006/9

Y1 - 2006/9

N2 - The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

AB - The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

KW - Direct-drive robot

KW - Friction

KW - Operational space

KW - Stability

KW - Velocity field control

UR - http://www.scopus.com/inward/record.url?scp=33750050006&partnerID=8YFLogxK

U2 - 10.1115/1.2234487

DO - 10.1115/1.2234487

M3 - Artículo

SN - 0022-0434

VL - 128

SP - 670

EP - 674

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

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

IS - 3

ER -

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

Abstract

Keywords

Access to Document

Other files and links

Fingerprint

Cite this