R. Kelly, J. Moreno, and F. Pérez (Mexico)
Robot control, Resolved motion rate control, velocity control, operational space, stability, direct-drive robot
Motion control of robot manipulators in operational space is addressed in this paper. We consider the resolved motion rate kinematic control in case of the use of a Proportional-Integral (PI) control driven by joint velocity error. The main theoretical result establishes asymptotic stability despite of exact joint velocity tracking is achieved only asymptotically. The performance of the control scheme is illustrated through-out experiments on a two degrees-of-freedom direct-drive arm.
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