{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:14:06Z","timestamp":1761488046068},"reference-count":12,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2008,11,1]],"date-time":"2008-11-01T00:00:00Z","timestamp":1225497600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Operational space control of industrial robots is addressed in this document. We analyze a two-loop hierarchical control with the resolved motion rate controller (RMRC) as outer loop and the joint velocity PI controller as inner loop; the latter is the typical velocity controller used in industrial robots. We prove, by the first time, that these simple controllers make the solutions of the closed-loop system uniformly ultimately bounded. Additionally, we give some simple guidelines for the selection of the control gains so as to ensure an explicit bound of the tracking error.<\/jats:p>","DOI":"10.1017\/s0263574708004335","type":"journal-article","created":{"date-parts":[[2008,5,8]],"date-time":"2008-05-08T10:34:12Z","timestamp":1210242852000},"page":"729-738","source":"Crossref","is-referenced-by-count":12,"title":["Stability analysis of the operational space control for industrial robots using their own joint velocity PI controllers"],"prefix":"10.1017","volume":"26","author":[{"given":"Karla","family":"Camarillo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ricardo","family":"Campa","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"V\u00edctor","family":"Santib\u00e1\u00f1ez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Javier","family":"Moreno-Valenzuela","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2008,11,1]]},"reference":[{"key":"S0263574708004335_ref12","volume-title":"Control of Robot Manipulators in Joint Space","author":"Kelly","year":"2005"},{"key":"S0263574708004335_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1981.1102785"},{"key":"S0263574708004335_ref9","doi-asserted-by":"crossref","unstructured":"9. Wang X. , and Chen L. K. , \u201cProving the Uniform Boundedness of Some Commonly Used Control Schemes for Robots,\u201d Proceedings of the IEEE International Conference on Robotics & Automation, Scottsdale, AZ, USA (1989) 1491\u20131496.","DOI":"10.1109\/ROBOT.1989.100190"},{"key":"S0263574708004335_ref7","volume-title":"Nonlinear Systems","author":"Khalil","year":"2005"},{"key":"S0263574708004335_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"S0263574708004335_ref8","doi-asserted-by":"crossref","unstructured":"8. Kawamura S. , Miyazaki F. and Arimoto S. , \u201cIs a Local Linear PD Feedback Control Law Effective for Trajectory Tracking of Robot Motion?,\u201d Proceedings of the IEEE International Conference on Robotics & Automation, Philadelphia, PA, USA (1988) 1335\u20131340.","DOI":"10.1109\/ROBOT.1988.12253"},{"key":"S0263574708004335_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/9.83543"},{"key":"S0263574708004335_ref3","doi-asserted-by":"crossref","unstructured":"3. Aicardi M. , Caiti A. , Cannata G. and Casalino G. , \u201cStability and robustness analysis of a two hierarchical architecture for a closed loop control of robots in the operational space,\u201d Proccedings of the IEEE International Conference on Robotics & Automation, Nagoya, Japan (1995) 2771\u20132778.","DOI":"10.1109\/ROBOT.1995.526005"},{"key":"S0263574708004335_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"S0263574708004335_ref4","volume-title":"Robot Dynamics and Control","author":"Spong","year":"1989"},{"key":"S0263574708004335_ref1","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"S0263574708004335_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.03.008"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004335","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,8]],"date-time":"2019-04-08T20:27:20Z","timestamp":1554755240000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004335\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,11]]},"references-count":12,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2008,11]]}},"alternative-id":["S0263574708004335"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004335","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,11]]}}}