Rafael Kelly

84 papers A* 21A 3Journal 45Unranked 15
YearRankTypeTitle / Venue / Authors
2025 J jnl
Global joint position regulation of a class of torque-driven robot manipulators within actuators prescribed safe operating torque-speed area.
Int. J. Control
Rafael Kelly, Adriana Salinas, Diana V. Cajero, Gabriela Zepeda
2024 A conf
A Globally Smooth Adaptive Tracking Controller for a Velocity Servo Actuator Model.
ICCAD
Rafael Kelly, Gabriela Zepeda, Carmen Monroy
2022 J jnl
A speed regulator for a force-driven cart-pole system.
Int. J. Syst. Sci.
Jesús Sandoval, Rafael Kelly, Víctor Santibáñez
2022 J jnl
Energy regulation of torque-driven robot manipulators in joint space.
J. Frankl. Inst.
Jesús Sandoval, Rafael Kelly, Víctor Santibáñez, Jorge Villalobos-Chin
2021 J jnl
A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments.
IEEE Trans. Control. Syst. Technol.
Rafael Kelly, Jesús Sandoval, Víctor Santibáñez
2021 A conf
On Simplified Models of Position Servo Actuators for control purposes.
ICCAD
Rafael Kelly, Gabriela Zepeda, Carmen Monroy
2019 A conf
On robustness of PD control with gravity compensation of torque-driven robot manipulators.
ICCAD
Rafael Kelly, Carmen Monroy
2015 — conf
On the Controlled Lagrangian of an inverted pendulum on a force-driven cart.
ECC
Jesus Sandoval, Rafael Kelly, Víctor Santibáñez
2010 — conf
Regulation of mechanisms with friction driven by brushed DC motors via IDA-PBC method.
CDC
Jesus Sandoval, Rafael Kelly, Víctor Santibáñez
2009 — conf
Interactive Animation of Agent Formation Based on Hopfield Neural Networks.
IWANN (1)
Rafael Kelly, Carmen Monroy
2009 J jnl
On output regulation of direct visual servoing via velocity fields.
Int. J. Control
Ricardo R. Pérez, Marco A. Arteaga, Rafael Kelly, Arturo Espinosa
2009 — conf
Visual Control Of A Remote Robot Manipulator Via Internet 2.
International Conference on Internet Computing
Carmen Monroy, Rafael Kelly, Dann De La Torre
2008 J jnl
RTSVC: Real-time system for visual control of robots.
Int. J. Imaging Syst. Technol.
Eusebio Bugarin, Rafael Kelly
2007 — conf
On Control for Agents Formation.
IFSA (1)
Rafael Kelly, Eusebio Bugarin, Carmen Monroy
2007 J jnl
Remote Visual Servoing of a Robot Manipulator via Internet2.
J. Intell. Robotic Syst.
Carmen Monroy, Rafael Kelly, Marco A. Arteaga, Eusebio Bugarin
2007 J jnl
Robustness of PID-controlled Manipulators vis-à-vis Actuator Dynamics and External Disturbances.
Eur. J. Control
Antoine Chaillet, Antonio Loría, Rafael Kelly
2006 J jnl
Coordinated Control Of Mobile Robots Based On Artificial Vision.
Int. J. Comput. Commun. Control
Carlos Miguel Soria, Ricardo O. Carelli, Rafael Kelly, Juan Manuel Ibarra Zannatha
2006 — conf
Image-based visual control of nonholonomic mobile robots via velocity fields: Case of partially calibrated inclined camera.
CDC
Rafael Kelly, Eusebio Bugarin, Victor Sanchez
2006 — conf
Monocular direct visual servoing for regulation of manipulators moving in the 3D Cartesian space.
CDC
Rafael Kelly, Eusebio Bugarin, Ilse Cervantes, Jose Alvarez-Ramirez
2006 — conf
Robustness of PID-controlled manipulators with respect to external disturbances.
CDC
Antoine Chaillet, Antonio Loría, Rafael Kelly
2005 A* conf
A Fixed- Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields.
ICRA
Rafael Kelly, Victor Sanchez, Eusebio Bugarin, Humberto Rodríguez
2005 J jnl
A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators.
IEEE Trans. Fuzzy Syst.
Victor Santibañez, Rafael Kelly, Miguel A. Llama
2005 — conf
Control of the Inertia Wheel Pendulum by Bounded Torques.
CDC/ECC
Víctor Santibáñez, Rafael Kelly, Jesus Sandoval
2005 J jnl
Learning control of robot manipulators by interactive simulation.
Robotica
Rafael Kelly, Sebastián Dormido, Carmen Monroy, Elizabeth Díaz
2005 J jnl
Manipulator motion control in operational space using joint velocity inner loops.
Autom.
Rafael Kelly, Javier Moreno-Valenzuela
2005 — conf
Pose Regulation of Robot Manipulators with Dynamic Friction Compensation.
CDC/ECC
Javier Moreno-Valenzuela, Rafael Kelly
2005 J jnl
Uniform Parametric Convergence in the Adaptive Control of Mechanical Systems.
Eur. J. Control
Antonio Loría, Rafael Kelly, Andrew R. Teel
2004 J jnl
Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators.
IEEE Trans. Syst. Man Cybern. Part B
Victor Santibañez, Rafael Kelly, Miguel A. Llama
2004 J jnl
Robot control without velocity measurements: new theory and experimental results.
IEEE Trans. Robotics Autom.
Marco A. Arteaga, Rafael Kelly
2004 — conf
Visual servoing of planar robots via velocity fields.
CDC
Rafael Kelly, Javier Moreno-Valenzuela, Ricardo Campa
2003 A* conf
Hierarchical velocity field control for robot manipulators.
ICRA
Javier Moreno-Valenzuela, Rafael Kelly
2003 — conf
Manipulator velocity field control with dynamic friction compensation.
CDC
Javier Moreno-Valenzuela, Rafael Kelly
2003 J jnl
Semiglobal stability of saturated linear PID control for robot manipulators.
Autom.
Jose Alvarez-Ramirez, Rafael Kelly, Ilse Cervantes
2003 A* conf
Uniform parametric convergence in the adaptive control of manipulators: a case restudied.
ICRA
Antonio Loría, Rafael Kelly, Andrew R. Teel
2002 J jnl
A robust velocity field control.
IEEE Trans. Control. Syst. Technol.
Ilse Cervantes, Rafael Kelly, Jose Alvarez-Ramirez, Javier Moreno-Valenzuela
2002 A* conf
Experimental Evaluation of Task Space Regulators using Unit Quaternions on a Direct-Drive Spherical Wrist.
ICRA
Eloísa García, Rafael Kelly
2002 A* conf
On Manipulator Velocity Control using Friction Compensation.
ICRA
Javier Moreno-Valenzuela, Rafael Kelly, Ricardo Campa
2002 — conf
On velocity control using friction compensation.
CDC
Javier Moreno-Valenzuela, Rafael Kelly, Ricardo Campa
2002 J jnl
Robotic Tasks Using Path Control: Two Case Studies.
J. Intell. Robotic Syst.
Javier Moreno-Valenzuela, Rafael Kelly
2001 J jnl
A stable motion control system for manipulators via fuzzy self-tuning.
Fuzzy Sets Syst.
Miguel A. Llama, Rafael Kelly, Victor Santibañez
2001 J jnl
An application of real-time control systems to robotics.
Robotica
Carmen Monroy, Ricardo Campa, Rafael Kelly
2001 — conf
Global asymptotic stability of bounded output feedback tracking control for robot manipulators.
CDC
Víctor Santibáñez, Rafael Kelly
2001 J jnl
Learning PID structures in an introductory course of automatic control.
IEEE Trans. Educ.
Rafael Kelly, Javier Moreno-Valenzuela
2001 — conf
Manipulator motion control in operational space using joint velocity inner loops.
CDC
Rafael Kelly, Javier Moreno, Fermín Pérez
2001 A* conf
On Stability of the Resolved Acceleration Control.
ICRA
Ricardo Campa, Rafael Kelly, Eloísa García
2001 J jnl
PD control with feedforward compensation for robot manipulators: analysis and experimentation.
Robotica
Víctor Santibáñez, Rafael Kelly
2000 J jnl
A measurement procedure for viscous and coulomb friction.
IEEE Trans. Instrum. Meas.
Rafael Kelly, Jesús Llamas, Ricardo Campa
2000 J jnl
Asymptotically stable visual servoing of manipulators via neural networks.
J. Field Robotics
Rafael Kelly, Jesús Favela, Juan M. Ibarra, Danilo Bassi
2000 A* conf
Fuzzy PD+ Control for Robot Manipulators.
ICRA
Victor Santibañez, Rafael Kelly, Miguel A. Llama
2000 J jnl
On vision systems identification with application to fixed-camera robotic systems.
Int. J. Imaging Syst. Technol.
Rafael Kelly, Fernando Reyes-Cortés
2000 J jnl
Stable computed-torque control of robot manipulators via fuzzy self-tuning.
IEEE Trans. Syst. Man Cybern. Part B
Miguel A. Llama, Rafael Kelly, Victor Santibañez
1999 A* conf
A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target.
ICRA
Rafael Kelly, Fernando Reyes-Cortés, Javier Moreno-Valenzuela, Seth Hutchinson
1999 J jnl
Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators.
Robotica
Rafael Kelly, Angel Coello
1999 A* conf
Determination of Viscous and Coulomb Friction by Using Velocity Responses to Torque Ramp Inputs.
ICRA
Rafael Kelly, Jesús Llamas
1999 A* conf
Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators.
ICRA
Victor Santibañez, Rafael Kelly
1999 J jnl
Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure.
Intell. Autom. Soft Comput.
Rafael Kelly, Rodolfo Haber, Rodolfo Haber-Guerra, Fernando Reyes-Cortés
1999 J jnl
Regulation of manipulators in generic task space: an energy shaping plus damping injection approach.
IEEE Trans. Robotics Autom.
Rafael Kelly
1998 A* conf
A Class of Nonlinear PID Global Regulators for Robot Manipulators.
ICRA
Victor Santibañez, Rafael Kelly
1998 J jnl
A new set-point controller with bounded torques for robot manipulators.
IEEE Trans. Ind. Electron.
Víctor Santibáñez, Rafael Kelly, Fernando Reyes
1998 A* conf
Experimental Evaluation of Fixed-Camera Direct Visual Controllers on a Direct-Drive Robot.
ICRA
Fernando Reyes-Cortés, Rafael Kelly
1998 J jnl
Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions.
IEEE Trans. Autom. Control.
Rafael Kelly
1998 J jnl
Global regulation of elastic joint robots based on energy shaping.
IEEE Trans. Autom. Control.
Rafael Kelly, Víctor Santibáñez
1998 A* conf
Stable Fuzzy Self-Tuning Computed-Torque Control of Robot Manipulators.
ICRA
Miguel A. Llama, Victor Santibañez, Rafael Kelly, Jesus Flores
1997 A* conf
Energy shaping based controllers for rigid and elastic joint robots: analysis via passivity theorems.
ICRA
Víctor Santibáñez, Rafael Kelly
1997 J jnl
Experimental Evaluation of Identification Schemes on a Direct Drive Robot.
Robotica
Fernando Reyes-Cortés, Rafael Kelly
1997 J jnl
On Global Regulation of Robot Manipulators: Saturated Linear State Feedback and Saturated Linear Output Feedback.
Eur. J. Control
Víctor Santibáñez, Rafael Kelly
1997 J jnl
On global output feedback regulation of Euler-Lagrange systems with bounded inputs.
IEEE Trans. Autom. Control.
Antonio Loría, Rafael Kelly, Romeo Ortega, Víctor Santibáñez
1997 A* conf
On parameter identification of robot manipulators.
ICRA
Fernando Reyes-Cortés, Rafael Kelly
1997 J jnl
PD Control with Desired Gravity Compensation of Robotic Manipulators: A Review.
Int. J. Robotics Res.
Rafael Kelly
1997 J jnl
Strict Lyapunov functions for control of robot manipulators.
Autom.
Víctor Santibáñez, Rafael Kelly
1996 J jnl
A class of nonlinear PD-type controllers for robot manipulators.
J. Field Robotics
Rafael Kelly, Ricardo O. Carelli
1996 A* conf
Fixed-camera visual servo control for planar robots.
ICRA
Rafael Kelly, Paul Shirkey, Mark W. Spong
1996 A* conf
Global regulation for robot manipulators under SP-SD feedback.
ICRA
Víctor Santibáñez, Rafael Kelly
1996 J jnl
Robust asymptotically stable visual servoing of planar robots.
IEEE Trans. Robotics Autom.
Rafael Kelly
1995 J jnl
A class of output feedback globally stabilizing controllers for flexible joints robots.
IEEE Trans. Robotics Autom.
Romeo Ortega, Rafael Kelly, Antonio Loría
1995 J jnl
A semiglobally stable output feedback PI
IEEE Trans. Autom. Control.
Romeo Ortega, Antonio Loría, Rafael Kelly
1995 J jnl
A tuning procedure for stable PID control of robot manipulators.
Robotica
Rafael Kelly
1995 A* conf
Strict Lyapunov Functions for Global Regulation of Robot Manipulators.
ICRA
Victor Santibañez, Rafael Kelly
1994 J jnl
Global regulation of flexible joint robots using approximate differentiation.
IEEE Trans. Autom. Control.
Rafael Kelly, Romeo Ortega, Amit Ailon, Antonio Loría
1994 J jnl
PD control with computed feedforward of robot manipulators: a design procedure.
IEEE Trans. Robotics Autom.
Rafael Kelly, Ricardo Salgado
1993 J jnl
Comments on 'Adaptive PD controller for robot manipulators'.
IEEE Trans. Robotics Autom.
Rafael Kelly
1989 A* conf
On adaptive impedance control of robot manipulators.
ICRA
Rafael Kelly, Ricardo O. Carelli, Mauricio Amestegui, Romeo Ortega
1988 A* conf
Adaptive control of robot manipulators: an input-output approach.
ICRA
Rafael Kelly, Romeo Ortega
1987 A* conf
Robustness enhancement of computer torque robot control via adaptive compensation.
ICRA
Romeo Ortega, Rafael Kelly, Juan Ibarra