TY - GEN
T1 - A new operational space trajectory tracking controller for manipulators by using only position measurements
AU - Moreno-Valenzuela, Javier
AU - Orozco-Manríquez, Ernesto
PY - 2009
Y1 - 2009
N2 - Many robotic tasks are specified in terms of the position and orientation (pose) of the robot end-effector. The operational space is defined by a set of generalized coordinates to describe the end-effector pose. The main contribution of this paper is a new operational space trajectory tracking controller, which does not require any velocity measurement. A rigorous stability analysis based on Lyapunov's direct method is presented. The practical viability of the proposed algorithm is explored through real-time experiments in an horizontal planar direct-drive arm with two degrees-of-freedom.
AB - Many robotic tasks are specified in terms of the position and orientation (pose) of the robot end-effector. The operational space is defined by a set of generalized coordinates to describe the end-effector pose. The main contribution of this paper is a new operational space trajectory tracking controller, which does not require any velocity measurement. A rigorous stability analysis based on Lyapunov's direct method is presented. The practical viability of the proposed algorithm is explored through real-time experiments in an horizontal planar direct-drive arm with two degrees-of-freedom.
UR - http://www.scopus.com/inward/record.url?scp=70449641074&partnerID=8YFLogxK
U2 - 10.1109/ACC.2009.5160672
DO - 10.1109/ACC.2009.5160672
M3 - Contribución a la conferencia
AN - SCOPUS:70449641074
SN - 9781424445240
T3 - Proceedings of the American Control Conference
SP - 2867
EP - 2872
BT - 2009 American Control Conference, ACC 2009
T2 - 2009 American Control Conference, ACC 2009
Y2 - 10 June 2009 through 12 June 2009
ER -