Modern applications of robotics typically involve a robot control system with an inner
proportional-integral (PI) or proportional-integral-derivative (PID) control loop and an outer …

It is well known that many industrial manipulators use an embedded linear proportional‐
integral (PI) joint velocity controller to guarantee motion control through proper velocity …

The operational space control of a robot manipulator using external sensors requires
stabilizing the compound system {external sensors-outer controller-inner controller-robot …

The so-called Hexapod robot is a parallel manipulator produced by Quanser Inc. This
mechanism is constituted of two triangular rigid bodies, one fixed (the base), and one mobile …

It is well known that industrial robots use the classical PID for positioning tasks. To the
authors' knowledge, so far, there is not a proof of global regulation for such a controller. In …

The stability of discrete time kinematic sensor-based control of robots is investigated in this
paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic …

Modeling and analyzing the dynamics of mechanical systems is important for purposes of
simulation, design and control. In the case of parallel manipulators, dynamics modeling …

Modern applications of robotics typically involve a robot control system with an inner PI
(proportional-integral) or PID (proportional-integral-derivative) control loop and an outer …

Industrial robots are naturally equipped with classical PID controllers, which theoretically
assure semi–global asymptotic stability of the closed–loop system equilibrium for the …

In this paper, we introduce a new multi-rate hybrid motion and force control using
operational space framework. Conventional implementation of operational space control …