Manipulator motion control in operational space using joint velocity inner loops

Automatica ◽  
2005 ◽  
Vol 41 (8) ◽  
pp. 1423-1432 ◽  
Author(s):  
Rafael Kelly ◽  
Javier Moreno
Keyword(s):  
Motion Control ◽  
Operational Space ◽  
Joint Velocity

Hybrid Force-Motion Control for One-Legged Robot in Operational Space

2021 ◽  
Author(s):  
Omer Kemal Adak ◽  
Beste Bahceci ◽  
Kemalettin Erbatur
Keyword(s):  
Motion Control ◽  
Legged Robot ◽  
Operational Space

scholarly journals Simplified Motion Control of a Vehicle manipulator for the Coordinated Mobile Manipulation

2020 ◽  
Vol 70 (1) ◽  
pp. 72-81 ◽  
Author(s):  
Swati Mishra ◽  
Santhakumar Mohan ◽  
Santosh Kumar Vishvakarma
Keyword(s):  
Motion Control ◽  
Experimental Testing ◽  
Kinematic Control ◽  
Control Approach ◽  
Operational Space ◽  
Control Scheme ◽  
Manipulator Arm ◽  
The Given ◽  
Pseudo Inverse ◽  
Kinematic Motion

This paper considers a resolved kinematic motion control approach for controlling a spatial serial manipulator arm that is mounted on a vehicle base. The end-effector’s motion of the manipulator is controlled by a novel kinematic control scheme, and the performance is compared with the well-known operational-space control scheme. The proposed control scheme aims to track the given operational-space (end-effector) motion trajectory with the help of resolved configuration-space motion without using the Jacobian matrix inverse or pseudo inverse. The experimental testing results show that the suggested control scheme is as close to the conventional operational-space kinematic control scheme.

scholarly journals Motion Control of Industrial Robots in Operational Space: Analysis and Experiments with the PA10 Arm

10.5772/9666 ◽  
2010 ◽  
Author(s):  
Ricardo Campa ◽  
Cesar Ramirez ◽  
Karla Camarillo ◽  
Victor Santibanez ◽  
Israel Soto
Keyword(s):  
Motion Control ◽  
Industrial Robots ◽  
Space Analysis ◽  
Operational Space

Stability analysis of the operational space control for industrial robots using their own joint velocity PI controllers

Robotica ◽  
2008 ◽  
Vol 26 (6) ◽  
pp. 729-738 ◽  
Author(s):  
Karla Camarillo ◽  
Ricardo Campa ◽  
Víctor Santibáñez ◽  
Javier Moreno-Valenzuela
Keyword(s):  
Closed Loop ◽  
Tracking Error ◽  
Hierarchical Control ◽  
Industrial Robots ◽  
Closed Loop System ◽  
Operational Space ◽  
Pi Controllers ◽  
Joint Velocity ◽  
First Time ◽  
Selection Of

SUMMARYOperational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller (RMRC) as outer loop and the joint velocity PI controller as inner loop; the latter is the typical 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. Additionally, we give some simple guidelines for the selection of the control gains so as to ensure an explicit bound of the tracking error.

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