Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems
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: 2014DOI: 10.1109/TRO.2013.2294882
Keyword(s): delays,discrete time systems,feedback,industrial manipulators,manipulator kinematics,motion control,robot vision,sensors,stability,synchronisation,visual servoing,Kuka K-R16 manipulator,coordination problem,discrete time kinematic sensor-based control,hierarchical inner-loop control architecture,hierarchical outer-loop control architecture,industrial robot manipulators,input-output delays,kinematic feedback,outer feedback loop,redundancy control,robotic systems,servo-level
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Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems
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| contributor author | Bjerkeng, Magnus | |
| contributor author | Falco, Pietro | |
| contributor author | Natale, Ciro | |
| contributor author | Pettersen, Kristin Y. | |
| date accessioned | 2020-03-12T18:40:13Z | |
| date available | 2020-03-12T18:40:13Z | |
| date issued | 2014 | |
| identifier issn | 1552-3098 | |
| identifier other | 6710135.pdf | |
| identifier uri | https://libsearch.um.ac.ir:443/fum/handle/fum/966280?locale-attribute=en | |
| format | general | |
| language | English | |
| publisher | IEEE | |
| title | Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems | |
| type | Journal Paper | |
| contenttype | Metadata Only | |
| identifier padid | 8000072 | |
| subject keywords | delays | |
| subject keywords | discrete time systems | |
| subject keywords | feedback | |
| subject keywords | industrial manipulators | |
| subject keywords | manipulator kinematics | |
| subject keywords | motion control | |
| subject keywords | robot vision | |
| subject keywords | sensors | |
| subject keywords | stability | |
| subject keywords | synchronisation | |
| subject keywords | visual servoing | |
| subject keywords | Kuka K-R16 manipulator | |
| subject keywords | coordination problem | |
| subject keywords | discrete time kinematic sensor-based control | |
| subject keywords | hierarchical inner-loop control architecture | |
| subject keywords | hierarchical outer-loop control architecture | |
| subject keywords | industrial robot manipulators | |
| subject keywords | input-output delays | |
| subject keywords | kinematic feedback | |
| subject keywords | outer feedback loop | |
| subject keywords | redundancy control | |
| subject keywords | robotic systems | |
| subject keywords | servo-level | |
| identifier doi | 10.1109/TRO.2013.2294882 | |
| journal title | Robotics, IEEE Transactions on | |
| journal volume | 30 | |
| journal issue | 3 | |
| filesize | 706683 | |
| citations | 0 |