A new bounded kinematic controller for operational space motion of manipulators

作者：Moreno Valenzuela Javier^*; Torres Torres Carlos

来源：Mechanics Research Communications, 2010, 37(7): 655-662.

DOI：10.1016/j.mechrescom.2010.08.001

• Bounded acceleration
• Motion control
• Operational space
• Direct drive robot

In this paper a new operational space controller is introduced The new scheme is based on a primary loop of joint velocity control and a secondary loop of kinematic control The use of saturation functions in the kinematic controller allows producing on-line bounded acceleration commands which has the advantage of preventing possible actuator damage Sufficient conditions for the uniform asymptoti

• 出版日期2010-10