Rafael Kelly

Publication Activity (10 Years)

Years Active: 1987-2024
Publications (10 Years): 6

Top Topics

Inverted Pendulum

Position Tracking

Fuzzy Controller

Top Venues

IEEE Trans. Control. Syst. Technol.

J. Frankl. Inst.

Int. J. Syst. Sci.

Publications

Rafael Kelly, Gabriela Zepeda, Carmen Monroy
A Globally Smooth Adaptive Tracking Controller for a Velocity Servo Actuator Model. ICCAD (2024)
Jesús Sandoval, Rafael Kelly, Víctor Santibáñez
A speed regulator for a force-driven cart-pole system. Int. J. Syst. Sci. 53 (2) (2022)
Jesús Sandoval, Rafael Kelly, Víctor Santibáñez, Jorge Villalobos-Chin
Energy regulation of torque-driven robot manipulators in joint space. J. Frankl. Inst. 359 (4) (2022)
Rafael Kelly, Jesús Sandoval, Víctor Santibáñez
A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments. IEEE Trans. Control. Syst. Technol. 29 (5) (2021)
Rafael Kelly, Gabriela Zepeda, Carmen Monroy
On Simplified Models of Position Servo Actuators for control purposes. ICCAD (2021)
Rafael Kelly, Carmen Monroy
On robustness of PD control with gravity compensation of torque-driven robot manipulators. ICCAD (2019)
Jesus Sandoval, Rafael Kelly, Víctor Santibáñez
On the Controlled Lagrangian of an inverted pendulum on a force-driven cart. ECC (2015)
Jesus Sandoval, Rafael Kelly, Víctor Santibáñez
Regulation of mechanisms with friction driven by brushed DC motors via IDA-PBC method. CDC (2010)
Ricardo R. Pérez, Marco A. Arteaga, Rafael Kelly, Arturo Espinosa
On output regulation of direct visual servoing via velocity fields. Int. J. Control 82 (4) (2009)
Carmen Monroy, Rafael Kelly, Dann De La Torre
Visual Control Of A Remote Robot Manipulator Via Internet 2. International Conference on Internet Computing (2009)
Rafael Kelly, Carmen Monroy
Interactive Animation of Agent Formation Based on Hopfield Neural Networks. IWANN (1) (2009)
Eusebio Bugarin, Rafael Kelly
RTSVC: Real-time system for visual control of robots. Int. J. Imaging Syst. Technol. 18 (4) (2008)
Rafael Kelly, Eusebio Bugarin, Carmen Monroy
On Control for Agents Formation. IFSA (1) (2007)
Carmen Monroy, Rafael Kelly, Marco A. Arteaga, Eusebio Bugarin
Remote Visual Servoing of a Robot Manipulator via Internet2. J. Intell. Robotic Syst. 49 (2) (2007)
Antoine Chaillet, Antonio Loría, Rafael Kelly
Robustness of PID-controlled Manipulators vis-à-vis Actuator Dynamics and External Disturbances. Eur. J. Control 13 (6) (2007)
Rafael Kelly, Eusebio Bugarin, Ilse Cervantes, Jose Alvarez-Ramirez
Monocular direct visual servoing for regulation of manipulators moving in the 3D Cartesian space. CDC (2006)
Antoine Chaillet, Antonio Loría, Rafael Kelly
Robustness of PID-controlled manipulators with respect to external disturbances. CDC (2006)
Rafael Kelly, Eusebio Bugarin, Victor Sanchez
Image-based visual control of nonholonomic mobile robots via velocity fields: Case of partially calibrated inclined camera. CDC (2006)
Carlos Miguel Soria, Ricardo O. Carelli, Rafael Kelly, Juan Manuel Ibarra Zannatha
Coordinated Control Of Mobile Robots Based On Artificial Vision. Int. J. Comput. Commun. Control 1 (2) (2006)
Rafael Kelly, Javier Moreno-Valenzuela
Manipulator motion control in operational space using joint velocity inner loops. Autom. 41 (8) (2005)
Rafael Kelly, Sebastián Dormido, Carmen Monroy, Elizabeth Díaz
Learning control of robot manipulators by interactive simulation. Robotica 23 (4) (2005)
Rafael Kelly, Victor Sanchez, Eusebio Bugarin, Humberto Rodríguez
A Fixed- Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields. ICRA (2005)
Antonio Loría, Rafael Kelly, Andrew R. Teel
Uniform Parametric Convergence in the Adaptive Control of Mechanical Systems. Eur. J. Control 11 (2) (2005)
Victor Santibañez, Rafael Kelly, Miguel A. Llama
A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators. IEEE Trans. Fuzzy Syst. 13 (3) (2005)
Javier Moreno-Valenzuela, Rafael Kelly
Pose Regulation of Robot Manipulators with Dynamic Friction Compensation. CDC/ECC (2005)
Víctor Santibáñez, Rafael Kelly, Jesus Sandoval
Control of the Inertia Wheel Pendulum by Bounded Torques. CDC/ECC (2005)
Marco A. Arteaga, Rafael Kelly
Robot control without velocity measurements: new theory and experimental results. IEEE Trans. Robotics Autom. 20 (2) (2004)
Victor Santibañez, Rafael Kelly, Miguel A. Llama
Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators. IEEE Trans. Syst. Man Cybern. Part B 34 (1) (2004)
Rafael Kelly, Javier Moreno-Valenzuela, Ricardo Campa
Visual servoing of planar robots via velocity fields. CDC (2004)
Javier Moreno-Valenzuela, Rafael Kelly
Manipulator velocity field control with dynamic friction compensation. CDC (2003)
Jose Alvarez-Ramirez, Rafael Kelly, Ilse Cervantes
Semiglobal stability of saturated linear PID control for robot manipulators. Autom. 39 (6) (2003)
Antonio Loría, Rafael Kelly, Andrew R. Teel
Uniform parametric convergence in the adaptive control of manipulators: a case restudied. ICRA (2003)
Javier Moreno-Valenzuela, Rafael Kelly
Hierarchical velocity field control for robot manipulators. ICRA (2003)
Javier Moreno-Valenzuela, Rafael Kelly, Ricardo Campa
On velocity control using friction compensation. CDC (2002)
Javier Moreno-Valenzuela, Rafael Kelly
Robotic Tasks Using Path Control: Two Case Studies. J. Intell. Robotic Syst. 35 (1) (2002)
Ilse Cervantes, Rafael Kelly, Jose Alvarez-Ramirez, Javier Moreno-Valenzuela
A robust velocity field control. IEEE Trans. Control. Syst. Technol. 10 (6) (2002)
Eloísa García, Rafael Kelly
Experimental Evaluation of Task Space Regulators using Unit Quaternions on a Direct-Drive Spherical Wrist. ICRA (2002)
Javier Moreno-Valenzuela, Rafael Kelly, Ricardo Campa
On Manipulator Velocity Control using Friction Compensation. ICRA (2002)
Carmen Monroy, Ricardo Campa, Rafael Kelly
An application of real-time control systems to robotics. Robotica 19 (3) (2001)
Miguel A. Llama, Rafael Kelly, Victor Santibañez
A stable motion control system for manipulators via fuzzy self-tuning. Fuzzy Sets Syst. 124 (2) (2001)
Rafael Kelly, Javier Moreno, Fermín Pérez
Manipulator motion control in operational space using joint velocity inner loops. CDC (2001)
Ricardo Campa, Rafael Kelly, Eloísa García
On Stability of the Resolved Acceleration Control. ICRA (2001)
Rafael Kelly, Javier Moreno-Valenzuela
Learning PID structures in an introductory course of automatic control. IEEE Trans. Educ. 44 (4) (2001)
Víctor Santibáñez, Rafael Kelly
Global asymptotic stability of bounded output feedback tracking control for robot manipulators. CDC (2001)
Víctor Santibáñez, Rafael Kelly
PD control with feedforward compensation for robot manipulators: analysis and experimentation. Robotica 19 (1) (2001)
Miguel A. Llama, Rafael Kelly, Victor Santibañez
Stable computed-torque control of robot manipulators via fuzzy self-tuning. IEEE Trans. Syst. Man Cybern. Part B 30 (1) (2000)
Rafael Kelly, Fernando Reyes-Cortés
On vision systems identification with application to fixed-camera robotic systems. Int. J. Imaging Syst. Technol. 11 (3) (2000)
Rafael Kelly, Jesús Favela, Juan M. Ibarra, Danilo Bassi
Asymptotically stable visual servoing of manipulators via neural networks. J. Field Robotics 17 (12) (2000)
Victor Santibañez, Rafael Kelly, Miguel A. Llama
Fuzzy PD+ Control for Robot Manipulators. ICRA (2000)
Rafael Kelly, Jesús Llamas, Ricardo Campa
A measurement procedure for viscous and coulomb friction. IEEE Trans. Instrum. Meas. 49 (4) (2000)
Victor Santibañez, Rafael Kelly
Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators. ICRA (1999)
Rafael Kelly, Fernando Reyes-Cortés, Javier Moreno-Valenzuela, Seth Hutchinson
A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target. ICRA (1999)
Rafael Kelly, Rodolfo Haber, Rodolfo Haber-Guerra, Fernando Reyes-Cortés
Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure. Intell. Autom. Soft Comput. 5 (4) (1999)
Rafael Kelly
Regulation of manipulators in generic task space: an energy shaping plus damping injection approach. IEEE Trans. Robotics Autom. 15 (2) (1999)
Rafael Kelly, Angel Coello
Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators. Robotica 17 (3) (1999)
Rafael Kelly, Jesús Llamas
Determination of Viscous and Coulomb Friction by Using Velocity Responses to Torque Ramp Inputs. ICRA (1999)
Víctor Santibáñez, Rafael Kelly, Fernando Reyes
A new set-point controller with bounded torques for robot manipulators. IEEE Trans. Ind. Electron. 45 (1) (1998)
Rafael Kelly, Víctor Santibáñez
Global regulation of elastic joint robots based on energy shaping. IEEE Trans. Autom. Control. 43 (10) (1998)
Rafael Kelly
Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions. IEEE Trans. Autom. Control. 43 (7) (1998)
Miguel A. Llama, Victor Santibañez, Rafael Kelly, Jesus Flores
Stable Fuzzy Self-Tuning Computed-Torque Control of Robot Manipulators. ICRA (1998)
Victor Santibañez, Rafael Kelly
A Class of Nonlinear PID Global Regulators for Robot Manipulators. ICRA (1998)
Fernando Reyes-Cortés, Rafael Kelly
Experimental Evaluation of Fixed-Camera Direct Visual Controllers on a Direct-Drive Robot. ICRA (1998)
Rafael Kelly
PD Control with Desired Gravity Compensation of Robotic Manipulators: A Review. Int. J. Robotics Res. 16 (5) (1997)
Antonio Loría, Rafael Kelly, Romeo Ortega, Víctor Santibáñez
On global output feedback regulation of Euler-Lagrange systems with bounded inputs. IEEE Trans. Autom. Control. 42 (8) (1997)
Víctor Santibáñez, Rafael Kelly
Strict Lyapunov functions for control of robot manipulators. Autom. 33 (4) (1997)
Víctor Santibáñez, Rafael Kelly
On Global Regulation of Robot Manipulators: Saturated Linear State Feedback and Saturated Linear Output Feedback. Eur. J. Control 3 (2) (1997)
Fernando Reyes-Cortés, Rafael Kelly
Experimental Evaluation of Identification Schemes on a Direct Drive Robot. Robotica 15 (5) (1997)
Fernando Reyes-Cortés, Rafael Kelly
On parameter identification of robot manipulators. ICRA (1997)
Víctor Santibáñez, Rafael Kelly
Energy shaping based controllers for rigid and elastic joint robots: analysis via passivity theorems. ICRA (1997)
Rafael Kelly
Robust asymptotically stable visual servoing of planar robots. IEEE Trans. Robotics Autom. 12 (5) (1996)
Rafael Kelly, Paul Shirkey, Mark W. Spong
Fixed-camera visual servo control for planar robots. ICRA (1996)
Víctor Santibáñez, Rafael Kelly
Global regulation for robot manipulators under SP-SD feedback. ICRA (1996)
Rafael Kelly, Ricardo O. Carelli
A class of nonlinear PD-type controllers for robot manipulators. J. Field Robotics 13 (12) (1996)
Romeo Ortega, Antonio Loría, Rafael Kelly
D regulator for robot manipulators. IEEE Trans. Autom. Control. 40 (8) (1995)
Romeo Ortega, Rafael Kelly, Antonio Loría
A class of output feedback globally stabilizing controllers for flexible joints robots. IEEE Trans. Robotics Autom. 11 (5) (1995)
Rafael Kelly
A tuning procedure for stable PID control of robot manipulators. Robotica 13 (2) (1995)
Victor Santibañez, Rafael Kelly
Strict Lyapunov Functions for Global Regulation of Robot Manipulators. ICRA (1995)
Rafael Kelly, Ricardo Salgado
PD control with computed feedforward of robot manipulators: a design procedure. IEEE Trans. Robotics Autom. 10 (4) (1994)
Rafael Kelly, Romeo Ortega, Amit Ailon, Antonio Loría
Global regulation of flexible joint robots using approximate differentiation. IEEE Trans. Autom. Control. 39 (6) (1994)
Rafael Kelly
Comments on 'Adaptive PD controller for robot manipulators'. IEEE Trans. Robotics Autom. 9 (1) (1993)
Rafael Kelly, Ricardo O. Carelli, Mauricio Amestegui, Romeo Ortega
On adaptive impedance control of robot manipulators. ICRA (1989)
Rafael Kelly, Romeo Ortega
Adaptive control of robot manipulators: an input-output approach. ICRA (1988)
Romeo Ortega, Rafael Kelly, Juan Ibarra
Robustness enhancement of computer torque robot control via adaptive compensation. ICRA (1987)