IEEE - Institute of Electrical and Electronics Engineers, Inc. - Task space robot control using an inner PD loop.

2009 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Garrido, R. ; Canul, E. ; Soria, A.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2009
Conference Location: Kobe, Japan, Japan
Conference Date: 12 May 2009
Page(s): 1,268 - 1,272
ISBN (CD): 978-1-4244-2789-5
ISBN (Paper): 978-1-4244-2788-8
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2009.5152307
Regular:

This paper presents a task-space robot controller composed of two nested loops. The inner loop corresponds to a Proportional-Derivative joint-position controller and the outer loop consists... View More

Advertisement