TY - JOUR
T1 - A new bounded kinematic controller for operational space motion of manipulators
AU - Moreno-Valenzuela, Javier
AU - Torres-Torres, Carlos
N1 - Funding Information:
This work was supported by Secretaría de Investigación y Posgrado–IPN, and CONACyT, Mexico.
PY - 2010/10
Y1 - 2010/10
N2 - In this paper, a new operational space controller is introduced. The new scheme is based on a primary loop of joint velocity control and a secondary loop of kinematic control. The use of saturation functions in the kinematic controller allows producing on-line bounded acceleration commands, which has the advantage of preventing possible actuator damage. Sufficient conditions for the uniform asymptotic stability of this control system are provided. As additional contribution, experimental results carried on a two degrees-of-freedom direct-drive arm are shown.
AB - In this paper, a new operational space controller is introduced. The new scheme is based on a primary loop of joint velocity control and a secondary loop of kinematic control. The use of saturation functions in the kinematic controller allows producing on-line bounded acceleration commands, which has the advantage of preventing possible actuator damage. Sufficient conditions for the uniform asymptotic stability of this control system are provided. As additional contribution, experimental results carried on a two degrees-of-freedom direct-drive arm are shown.
KW - Bounded acceleration
KW - Direct-drive robot
KW - Kinematic controller
KW - Motion control
KW - Operational space
UR - http://www.scopus.com/inward/record.url?scp=78649297636&partnerID=8YFLogxK
U2 - 10.1016/j.mechrescom.2010.08.001
DO - 10.1016/j.mechrescom.2010.08.001
M3 - Artículo
SN - 0093-6413
VL - 37
SP - 655
EP - 662
JO - Mechanics Research Communications
JF - Mechanics Research Communications
IS - 7
ER -