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)

Producción científica: Contribución a una revista › Artículo › revisión exhaustiva

2 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas (desde-hasta)	670-674
Número de páginas	5
Publicación	Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volumen	128
N.º	3
DOI	https://doi.org/10.1115/1.2234487
Estado	Publicada - sep. 2006

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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",

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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

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M3 - Artículo

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

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