Abstract
This paper concerns the velocity field control in operational space of robot manipulators. Velocity field control is a recent control formulation in robotics. A velocity field defines the desired robot velocity in the operational space as a function of its current position, thus the robot performs the desired motions. In this paper, a controller is proposed for operational space velocity field control. The proposed controller is based on a hierarchical structure that result of using the kinematic control concept and a joint velocity controller. Experimental results on a two degrees-of-freedom direct-drive robot arm illustrate the viability of the proposed scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 4374-4379 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| State | Published - 2003 |
| Event | 2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan, Province of China Duration: 14 Sep 2003 → 19 Sep 2003 |
Keywords
- Direct-drive arm
- Robot control
- Stability
- Velocity field