Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
On global uniform asymptotic stability of nonlinear time-varying systems in cascade
Systems & Control Letters
Robot Dynamics and Control
Brief paper: Modified transpose Jacobian control of robotic systems
Automatica (Journal of IFAC)
ACC'09 Proceedings of the 2009 conference on American Control Conference
Multi-rate operational space control of compliant motion in robotic manipulators
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
The Null-Space-based Behavioral Control for Mobile Robots with Velocity Actuator Saturations
International Journal of Robotics Research
| Hi-index | 22.15 |
This paper addresses the operational space motion control-trajectory tracking-of robot manipulators endowed with joint velocity feedback inner loops. A general structure for model-based joint velocity controllers is proposed for the inner loop. The required joint velocity reference is provided by an outer loop inspired from the robot kinematic control approach. It is shown that above two-loops control schemes lead to a nice cascade structure for the corresponding closed-loop systems. A stability result adapted for analysis of this particular kind of systems is developed in the paper; sufficient conditions for global exponential stability of this class of cascade systems are obtained. The effectiveness of the proposed control approach is evaluated on a direct-drive mechanical arm, and compared with a typical control strategy based on inverse kinematics resolution for computation of the desired motion in joint space, and the use of the computed-torque technique. The experimental evidences show better performance of the proposed two-loops controller.