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A new bounded kinematic controller for operational space motion of manipulators

✍ Scribed by Javier Moreno–Valenzuela; Carlos Torres–Torres

Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
523 KB
Volume
37
Category
Article
ISSN
0093-6413

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✍ Javier Moreno-Valenzuela; Luis González-Hernández 📂 Article 📅 2011 🏛 Elsevier Science 🌐 English ⚖ 583 KB

In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position me