By Topic

On stability of the resolved acceleration control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Campa, Ricardo ; Div. de Fisica Aplicada, CICESE, Ensenada, Mexico ; Kelly, R. ; Garcia, E.

Resolved acceleration control is a method for motion control of robot manipulators in task space where a desired end-effector pose trajectory is specified. We consider the orientation part of the pose given by the Euler parameters or unit quaternion. The main contribution is a novel proof of asymptotic stability based in the use of a strict Lyapunov function. This is a one stage procedure which improves previously reported analysis where two-stage mechanisms are in general invoked: first demonstrating stability and then convergence.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

Date of Conference:

2001