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Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems

contributor authorBjerkeng, Magnus
contributor authorFalco, Pietro
contributor authorNatale, Ciro
contributor authorPettersen, Kristin Y.
date accessioned2020-03-12T18:40:13Z
date available2020-03-12T18:40:13Z
date issued2014
identifier issn1552-3098
identifier other6710135.pdf
identifier urihttp://libsearch.um.ac.ir:80/fum/handle/fum/966280?show=full
formatgeneral
languageEnglish
publisherIEEE
titleStability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems
typeJournal Paper
contenttypeMetadata Only
identifier padid8000072
subject keywordsdelays
subject keywordsdiscrete time systems
subject keywordsfeedback
subject keywordsindustrial manipulators
subject keywordsmanipulator kinematics
subject keywordsmotion control
subject keywordsrobot vision
subject keywordssensors
subject keywordsstability
subject keywordssynchronisation
subject keywordsvisual servoing
subject keywordsKuka K-R16 manipulator
subject keywordscoordination problem
subject keywordsdiscrete time kinematic sensor-based control
subject keywordshierarchical inner-loop control architecture
subject keywordshierarchical outer-loop control architecture
subject keywordsindustrial robot manipulators
subject keywordsinput-output delays
subject keywordskinematic feedback
subject keywordsouter feedback loop
subject keywordsredundancy control
subject keywordsrobotic systems
subject keywordsservo-level
identifier doi10.1109/TRO.2013.2294882
journal titleRobotics, IEEE Transactions on
journal volume30
journal issue3
filesize706683
citations0


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