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International Journal of Control, Automation and Systems
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publication venue for: A Generalized Vision-based Stiffness Controller for Robot Manipulators with Bounded Inputs
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A Generalized Vision-based Stiffness Controller for Robot Manipulators with Bounded Inputs
type: Document
doi: 10.1007/s12555-019-1056-7
has funding vehicle: 707604, 707689
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most specific type: Document
has publication venue: International Journal of Control, Automation and Systems
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has funding vehicle: Universidad Autónoma de San Luis Potosí, UASLP: C19-FAI-05-58.58
estado: published
type: Information Content Entity
related by: authorship_44050
related by: authorship_44047
abstract: Generally, stiffness and impedance control schemes require knowledge of the location of any object with which a robot interacts within its workspace; therefore, the integration of a computer vision system within the control loop allows us to know the location of the robot end effector and the object (target) simultaneously. In this paper, a generalized and saturating vision-based stiffness controller with adaptive gravity compensation is presented. The proposed control algorithm is designed to regulate robot-environment interaction in task-space, where the contact force is modeled as a vector of generalized bounded spring-like forces. In order to control nonredundant robots, the proposed controller has a nonlinear proportional-derivative structure with static model-based compensation of gravitational forces, as it includes a regressor-based adaptive term. To support the proposal, the Lyapunov stability analysis of the closed-loop equilibrium vector is presented. Finally, the suitable performance of the proposed scheme was verified by numerical simulations and experimental tests. © 2021, ICROS, KIEE and Springer.
type: Article
related by: authorship_44049
crisid: 6722
e iscopus: 2-s2.0-85089023629
volume: 19
issue: 1
page end: 561
related by: authorship_44048
date time value: article date 6722
most specific type: Article
origen: scopus
freetext keyword: Adaptive control; bounded inputs; robot manipulator; stability; stiffness; vision Computer control systems; End effectors; Manipulators; Robot applications; Stiffness; Vector spaces; Computer vision system; Experimental test; Gravitational forces; Gravity compensation; Lyapunov stability analysis; Proportional derivatives; Robot end effector; Robot-environment interaction; Controllers
page start: 548

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RDF description of A Generalized Vision-based Stiffness Controller for Robot Manipulators with Bounded Inputs - http://orbis.uaslp.mx/vivo/individual/scopus6721
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date: 2026-08-27T05:46:24
publisher: vivo
type: Document

Article
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Information Content Entity
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707604, 707689
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funding vehicle for: A Generalized Vision-based Stiffness Controller for Robot Manipulators with Bounded Inputs

Universidad Autónoma de San Luis Potosí, UASLP: C19-FAI-05-58.58
type: Relationship
type: BFO_0000020
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type: Grant
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funding vehicle for: A Generalized Vision-based Stiffness Controller for Robot Manipulators with Bounded Inputs