Resolved-Acceleration Control
Is a method for task space control.
It consists in compute the torques and forces using the second order (acceleration) kinematics of the system. In order to do that one has to plan a trajectory to have the desired kinematics of the end-effector. Then, compute the joints acceleration (using the end-effector kinematics) and then compute the torques and forces necessary to create such accelerations.
The controller is presented in:
Luh, J., Walker, M., & Paul, R. (1980). Resolved-acceleration control of mechanical manipulators. IEEE Trans. Automat. Contr., 25(3), 468–474. http://dx.doi.org/10.1109/TAC.1980.1102367
luh1980 | Resolved-acceleration control of mechanical manipulators