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Hierarchical velocity field control for robot manipulators

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2 Author(s)
Moreno, J. ; Tecnologia Digital, Centro de Investigacion y Desarrollo, Leon, Mexico ; Kelly, R.

This paper concerns the velocity field control in operational space of robot manipulators. Velocity field control is a recent control formulation in robotics. A velocity field defines the desired robot velocity in the operational space as a function of its current position, thus the robot performs the desired motions. In this paper, a controller is proposed for operational space velocity field control. The proposed controller is based on a hierarchical structure that result of using the kinematic control concept and a joint velocity controller. Experimental results on a two degrees-of-freedom direct-drive robot arm illustrate the viability of the proposed scheme.

Published in:

Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on  (Volume:3 )

Date of Conference:

14-19 Sept. 2003

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