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A new velocity field controller for robot arms

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1 Author(s)
Morenon-Valenzuela, J. ; CITEDI-IPN, Tijuana

By using only position measurements, in this paper is discussed a new control algorithm for velocity field control of robot arms. A velocity field defines the robot desired velocity in the operational space as a function of its current position. The introduced algorithm is based on a hierarchical structure that result of using the kinematic control concept and a joint velocity controller

Published in:

Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on

Date of Conference:

15-19 May 2006