IEEE - Institute of Electrical and Electronics Engineers, Inc. - Some remarks on two quasi-velocities approaches in PD joint space control

Proceedings of RSJ/IEEE International Conference on Intelligent Robots and Systems

Author(s): P. Herman ; K. Kozlowski
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2001
Conference Location: Maui, HI, USA, USA
Conference Date: 29 October 2001
Volume: 4
Page Count: 6
ISBN (Paper): 0-7803-6612-3
DOI: 10.1109/IROS.2001.976349
Regular:

This paper presents some remarks on PD control in joint space for serial manipulators whose dynamics is expressed in terms of two different kind of quasi-velocities. Robot dynamics algorithms in... View More

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