@inproceedings{d9a32b79166247e8bfa381c4c8ce19d1,
title = "On the operational space control of industrial robots using their own joint velocity PI controllers",
abstract = "Operational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller as outer loop and the joint velocity PI controller as inner loop; the later is the typical internal velocity controller used in industrial robots. We prove, by the first time, that these simple controllers make the solutions of the closed-loop system uniformly ultimately bounded.",
author = "Karla Camarillo and Ricardo Campa and V{\'i}ctor Santib{\'a}{\~n}ez and Javier Moreno",
year = "2007",
doi = "10.1109/CDC.2007.4434760",
language = "Ingl{\'e}s",
isbn = "1424414989",
series = "Proceedings of the IEEE Conference on Decision and Control",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "5773--5778",
booktitle = "Proceedings of the 46th IEEE Conference on Decision and Control 2007, CDC",
address = "Estados Unidos",
note = "46th IEEE Conference on Decision and Control 2007, CDC ; Conference date: 12-12-2007 Through 14-12-2007",
}