Abstract

The velocity field control of robot manipulators is addressed in this paper. The proposed algorithm has a hierarchical structure based on a velocity field kinematic control scheme for joint velocity resolution and an inner loop of joint velocity control that uses an observer for friction compensation. Experiments on a two degrees-of-freedom direct-drive arm illustrate the performance of the proposed controller.

Issue Section:
Technical Briefs
Keywords:
manipulator kinematics, friction, velocity control, velocity field control, operational space, stability, friction, direct-drive robot
Topics:
Control equipment, Friction, Kinematics, Manipulators, Robots, Sliding friction, Errors
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 by American Society of Mechanical Engineers
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