A new bounded kinematic controller for operational space motion of manipulators

In this paper, a new operational space controller is introduced. The new scheme is based on a primary loop of joint velocity control and a secondary loop of kinematic control. The use of saturation functions in the kinematic controller allows producing on–line bounded acceleration commands, which has the advantage of preventing possible actuator damage. Sufficient conditions for the uniform asymptotic stability of this control system are provided. As additional contribution, experimental results carried on a two degrees-of-freedom direct-drive arm are shown.