DocumentCode
1981171
Title
Task space robot control using an inner pd loop
Author
Garrido, R. ; Canul, E. ; Soria, A.
fYear
2008
fDate
12-14 Nov. 2008
Firstpage
86
Lastpage
90
Abstract
This paper presents a task-space robot controller composed of two nested loops. The inner loop corresponds to a proportional derivative joint controller and the outer loop consists of a proportional integral controller fed by task space measurements. Stability is studied by means of the Lyapunov method and a visual servoing application is considered for experimentally assessing the performance of the proposed controller.
Keywords
Lyapunov methods; PD control; aerospace robotics; mobile robots; stability; visual servoing; Lyapunov method; inner PD loop; proportional derivative joint controller; proportional integral controller; task space robot control; visual servoing; Automatic control; Extraterrestrial measurements; Jacobian matrices; Orbital robotics; PD control; Position measurement; Proportional control; Robot control; Robot kinematics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical Engineering, Computing Science and Automatic Control, 2008. CCE 2008. 5th International Conference on
Conference_Location
Mexico City
Print_ISBN
978-1-4244-2498-6
Electronic_ISBN
978-1-4244-2499-3
Type
conf
DOI
10.1109/ICEEE.2008.4723395
Filename
4723395
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