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Nombre: Kelly Martínez ,  Rafael de Jesús
Categoría: INVESTIGADOR TITULAR
SNI: INVESTIGADOR III
Departamento: Electrónica y Telecomunicaciones
División: Física Aplicada
Correo: rkelly@cicese.mx
Extensión: 25405
Proyectos
Líneas de investigación
Laboratorios

Publicaciones
2016
  • Salinas Avila, A., Kelly Martínez, R. J., & Moreno Valenzuela, E. J. (2016). Position control under simultaneous limited torque and speed of a torque-driven nonlinear rotational mechanism. Cogent Engineering, 3(1), 14. doi: 10.1080/23311916.2016.1192009. (ID: 20743)
  • Kelly Martínez, R. J., Salinas Avila, A., & De la Torre Rodriguez, D. (2016). Un modelo dinamico del mecanismo inverso simplificado de Locomotora con accionamiento de par: Locomobot, arquetipo sencillo de 1 grado de libertad con estructura completa representativa de robot manipulador. AMRob Journal, Robotics: Theory and Applications, 4(2), 31 -36. (ID: 22121)
  • Salinas Avila, A., Moreno Valenzuela, E. J., & Kelly Martínez, R. J. (2016). A family of nonlinear PID-like regulators for a class of torque-driven robot manipulators equipped with torque-constrained actuators. Advances in Mechanical Engineering, 8(2), 1-14. doi: 10.1177/1687814016628492. (ID: 19990)
2014
  • Kelly Martínez, R. J., & Monroy Lara, M. C. (2014). Desatando el nudo gordiano del modelado de robots para fines de control: Inspiración en el cordel de Ariadna; Parte I: Rudimentos. AMRob Journal, Robotics: Theory and Applications, 2(4), 99-106. (ID: 18017)
2013
  • Kelly Martínez, R. J., & Sandoval Galarza, J. A. (2013). Analysis of an estimate of the region of attraction of an IDA-PBC control of a ball and beam underactuated mechanism. Transaction on Control and Mechanical Systems, 2(1), 43-48. (ID: 16509)
2010
  • Sandoval Galarza, J. A., Kelly Martínez, R. J., & Santibáñez Dávila, V. A. (2010). Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction. International Journal of Robust and Nonlinear Control, 21(7), 738-751. doi: 10.1002/rnc.1622. (ID: 13883)
  • Bugarín Carlos, E., & Kelly Martínez, R. J. (2010). Direct visual servoing of planar manipulators using moments of planar targets. In Ales Ude (Eds.), Robot Vision (pp. 403-428). In-Tech. (ID: 13737)
2009
  • Llama, M. A., Kelly Martínez, R. J., Santibanez Davila, V. A., & Centeno, H. (2009). An adaptive fuzzy controller for robot manipulators: Theory and experimentation. International Journal of Factory Automation, Robotics and Soft Computing, (1), 122-131. (ID: 9920)
2008
  • Bugarín Carlos, E., & Kelly Martínez, R. J. (2008). RTSVC: Real-time system for visual control of robots. International Journal of Imaging Systems and Technology, 18(4), 251-256. doi: 10.1002/ima.20135. (ID: 8869)
  • Kelly Martínez, R. J., Cervantes, I., Alvarez Ramírez, J., Bugarín Carlos, E., & Monroy Lara, M. C. (2008). On transpose Jacobian control for monocular fixed-camera 3D direct visual servoing. In Marco Ceccarelli (Eds.), Robot Manipulators (pp. 243-258). I-Tech Education and Publishing. (ID: 9991)
2007
  • Canudas De Wit, C., & Kelly Martínez, R. J. (2007). Passivity analysis of a motion control for robot manipulators with dynamic friction. Asian Journal of Control, 9(1), 30-36. (ID: 10040)
2006
  • Soria, C., Carelli, R., Kelly Martínez, R. J., & Ibarra Zannatha, J. M. (2006). Coordinated control of mobile robots based on artificial vision. International Journal of Computers, Communications & Control, I(2), 85-94. (ID: 10650)
  • Moreno Valenzuela, E. J., & Kelly Martínez, R. J. (2006). A hierarchical approach to manipulator velocity field control considering dynamic friction compensation. Journal of Dynamic Systems, Measurement and Control, 128, 670-674. (ID: 10649)
  • Monroy Lara, M. C., Kelly Martínez, R. J., & Lepe Aldama, O. I. (2006). On control of swarms in relative configurations: Unified analysis and interactive animation. International Journal of Intelligent Control and Systems, 11(2), 192-198. (ID: 11635)
  • Carelli, R., Kelly Martínez, R. J., Nasisi, O., Soria, C., & Mut, V. (2006). Control based on perspective lines of a non-holonomic mobile robot with camera-on-board. International Journal of Control, 79(4), 362-371. (ID: 10651)
2005
  • Loria, A., Kelly Martínez, R. J., & Teel, A. R. (2005). Uniform parametric convergence in the adaptive control of mechanical systems. European Journal of Control, 11, 87-100. (ID: 9719)
  • Kelly Martínez, R. J., Dormido, S., Monroy Lara, M. C., & Díaz Moreno, E. (2005). Learning control of robot manipulators by interactive simulation. Robotica, 23, 515-520. (ID: 9696)
  • Santibanez Davila, V. A., Kelly Martínez, R. J., & Llama, M. A. (2005). A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators. IEEE Transactions on Fuzzy Systems, 13(3), 362-372. (ID: 7614)
  • Kelly Martínez, R. J., & Moreno Valenzuela, E. J. (2005). Manipulator motion control in operational space using joint velocity inner loops. Automatica, 41, 1423-1432. (ID: 7617)
  • Kelly Martínez, R. J., & Campa Cocom, R. E. (2005). Control basado en Ida-PBC del péndulo con rueda inercial: Análisis en formulación lagrangiana. Revista Iberoamericana de Automática e Informática Industrial, 2(1), 36-42. (ID: 7611)
2004
  • Campa Cocom, R. E., Kelly Martínez, R. J., & Santibanez Davila, V. A. (2004). Windows-based real-time control of direct-drive mechanisms: platform description and experiments. Mechatronics, 14(9), 1021-1036. (ID: 8577)
  • Arteaga, M. A., & Kelly Martínez, R. J. (2004). Robot control without velocity measurements: New theory and experimental results. IEEE Transactions on Robotics and Automation, 20(2), 297-308. (ID: 8854)
  • Kelly Martínez, R. J. (2004). Enhancement to the lugre model for global description of friction phenomena. Latin American Applied Research, 34, 173-177. (ID: 8856)
  • Kelly Martínez, R. J., Santibanez Davila, V. A., & González, E. (2004). Adaptive friction compensation in mechanisms using the Dahl model. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 218(Part I), 53-57. (ID: 8855)
  • Santibanez Davila, V. A., Kelly Martínez, R. J., & Llama, M. A. (2004). Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 34(1), 710-718. (ID: 6563)
2003
  • Alvarez Ramírez, J., Kelly Martínez, R. J., & Cervantes, I. (2003). A stable output feedback position control with integral action for robot manipulators. Asian Journal of Control, 5(2), 230-241. (ID: 5094)
  • Moreno Valenzuela, E. J., & Kelly Martínez, R. J. (2003). Velocity control of robot manipulators: analysis and experiments. International Journal of Control, 76(14), 1420-1427. (ID: 5122)
  • Moreno Valenzuela, E. J., Kelly Martínez, R. J., & Campa Cocom, R. E. (2003). Manipulator velocity control using friction compensation. IEE Proceedings - Control Theory and Applications, 150(2), 119-126. (ID: 6825)
  • Alvarez Ramírez, J., Kelly Martínez, R. J., & Cervantes, I. (2003). Semiglobal stability of saturated linear PID control for robot manipulators. Automatica, 39, 989-995. (ID: 6828)
2002
  • Cervantes, I., Kelly Martínez, R. J., Alvarez Ramírez, J., & Moreno Valenzuela, E. J. (2002). A robust velocity field control. IEEE Transactions on Control Systems Technology, 10(6), 888-894. (ID: 7357)
  • Moreno Valenzuela, E. J., & Kelly Martínez, R. J. (2002). Robotic tasks using path control: two case studies. Journal of Intelligent & Robotic Systems, 35, 41-59. (ID: 5551)
  • Moreno Valenzuela, E. J., & Kelly Martínez, R. J. (2002). On motor velocity control by using only position measurements: two case studies. International Journal of Electrical Engineering Education, 39(2), 118-127. (ID: 4515)
2001
  • Llama, M. A., Kelly Martínez, R. J., & Santibanez Davila, V. A. (2001). A stable motion control system for manipulators via fuzzy self-tuning. Fuzzy Sets and Systems, 124, 133-154. (ID: 4129)
  • Kelly Martínez, R. J., & Moreno Valenzuela, E. J. (2001). Learning PID structures in an introductory course of automatic control. IEEE Transactions on Education, 44(4), 373-376. (ID: 4403)
  • Monroy Lara, M. C., Campa Cocom, R. E., & Kelly Martínez, R. J. (2001). An application of real-time control systems to robotics. Robotica, 19, 323-329. (ID: 4845)
  • Reyes Cortés, J. F., & Kelly Martínez, R. J. (2001). Experimental evaluation of model-based controllers on a direct-drive robot arm. Mechatronics, 11, 267-282. (ID: 6079)
  • Santibanez Davila, V. A., & Kelly Martínez, R. J. (2001). PD control with feedforward compensation for robot manipulators: analysis and experimentation. Robotica, 19, 11-19. (ID: 4791)
  • Kelly Martínez, R. J., & Santibanez Davila, V. A. (2001). Commande adaptative de robots manipulateurs. In Rogelio Lozano, Damia Taoutaou (Eds.), Commande Adaptative et Applications (pp. 14-59). (ID: 4792)
2000
  • Kelly Martínez, R. J., & Reyes Cortés, J. F. (2000). On vision systems identification with application to fixed-camera robotic systems. International Journal of Imaging Systems and Technology, 11(3), 170-180. (ID: 4654)
  • Kelly Martínez, R. J., Bassi, D., Favela Vara, J., & Ibarra, J. M. (2000). Asymptotically stable visual servoing of manipulators via neural Networks. Journal of Robotic Systems, 17(12), 659-669. (ID: 5923)
  • Alvarez Ramírez, J., Cervantes, I., & Kelly Martínez, R. J. (2000). PID regulation of robot manipulators: stability and performance. Systems and Control Letters, 41, 73-83. (ID: 2983)
  • Kelly Martínez, R. J., Llamas, J., & Campa Cocom, R. E. (2000). A measurement procedure for viscous and coulomb friction. IEEE Transactions on Instrumentation and Measurement, 49(4), 857-861. (ID: 5241)
  • Llama, M. A., Kelly Martínez, R. J., & Santibanez Davila, V. A. (2000). Stable computed-torque control of robot manipulators via Fuzzy Self-Tuning. IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, 30(1), 143-150. (ID: 3641)
  • Kelly Martínez, R. J., Carelli, R., Nasisi, O., Kuchen, B., & Reyes Cortés, J. F. (2000). Stable visual servoing of camera-in-hand robotic systems. IEEE/ASME Transactions on Mechatronics, 5(1), 39-48. (ID: 3073)
1999
  • Kelly Martínez, R. J., Haber, R., Haber Guerra, R. E., & Reyes, F. (1999). Lyapunov stable control of robot manipulators: a Fuzzy self-tuning procedure. Intelligent Automation and Soft Computing, 5(4), 313-326. (ID: 3924)
  • Kelly Martínez, R. J., & Coello, A. (1999). Analysis and experimentation of Transpose Jacobian-based Cartesian regulators. Robotica, 17, 303-312. (ID: 2478)
  • Kelly Martínez, R. J. (1999). Regulation of manipulators in generic task space: an energy shaping plus damping injection approach. IEEE Transactions on Robotics and Automation, 15(2), 381-386. (ID: 4283)
1998
  • Kelly Martínez, R. J., & Santibanez Davila, V. A. (1998). Global regulation of elastic joint robots based on energy shaping. IEEE Transactions on Automatic Control, 43(10), 1451-1456. (ID: 2509)
  • Kelly Martínez, R. J. (1998). Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions. IEEE Transactions on Automatic Control, 43(7), 934-938. (ID: 1347)
  • Kelly Martínez, R. J., Santibanez Davila, V. A., & Reyes Cortés, J. F. (1998). A class of adaptive regulators for robot manipulators. International Journal of Adaptive Control and Signal Processing, 12, 41-62. (ID: 72)
  • Santibanez Davila, V. A., Kelly Martínez, R. J., & Reyes Cortés, J. F. (1998). A new set-point controller with bounded torques for robot manipulators. IEEE Transactions on Industrial Electronics, 45(1), 126-133. (ID: 34)
1997
  • Kelly Martínez, R. J., Santibanez Davila, V. A., & Berghuis, H. (1997). Point-to-point robot control under actuator constraints. Control Engineering, 5(11), 1555-1562. (ID: 1502)
  • Reyes Cortés, J. F., & Kelly Martínez, R. J. (1997). Experimental evaluation of identification schemes on a direct drive robot. Robotica, 15, 563-571. (ID: 8314)
  • Kelly Martínez, R. J. (1997). PD control with desired gravity compensation of robotic manipulators: A review. The International Journal of Robotics Research, 16(5), 660-672. (ID: 2024)
  • Santibanez Davila, V. A., & Kelly Martínez, R. J. (1997). On global regulation of robot manipulators: saturated linear state feedback and saturated linear output feedback. European Journal of Control, 3, 104-113. (ID: 268)
  • Loria, A., Kelly Martínez, R. J., Ortega, R., & Santibanez Davila, V. A. (1997). On global output feedback regulation of Euler-Lagrange Systems with bounded inputs. IEEE Transactions on Automatic Control, 42(8), 1138-1143. (ID: 1771)
  • Santibanez Davila, V. A., & Kelly Martínez, R. J. (1997). Strict Lyapunov functions for control of robot manipulators. Automatica, 33(4), 675-682. (ID: 1751)
1996
  • Kelly Martínez, R. J., & Carelli, R. (1996). A class of nonlinear PD-type controllers for robot manipulators. Journal of Robotic Systems, 13(12), 793-802. (ID: 622)
  • Kelly Martínez, R. J. (1996). A set-point robot controller by using only position measurements. International Journal of Robotics and Automation, 11(1), 36-40. (ID: 513)
  • Kelly Martínez, R. J. (1996). Robust asymptotically stable visual servoing of planar robots. IEEE Transactions on Robotics and Automation, 12(5), 759-766. (ID: 1239)
  • Kelly Martínez, R. J., Santibanez Davila, V. A., & Reyes Cortés, J. F. (1996). On saturated-proportional derivative feedback with adaptive gravity compensation of robot manipulators. International Journal of Adaptive Control and Signal Processing, 10(4), 465-479. (ID: 1240)
1995
  • Ortega, R., Kelly Martínez, R. J., & Loria, A. (1995). A class of output feedback globally stabilizing controllers for flexible joints robots. IEEE Transactions on Robotics and Automation, 11(5), 766-770. (ID: 769)
  • Ortega, R., Loria, A., & Kelly Martínez, R. J. (1995). A semiglobally stable output feedback PI²D regulator for robot manipulators. IEEE Transactions on Automatic Control, 40(8), 1432-1436. (ID: 155)
  • Ortega, R., Loria, A., Kelly Martínez, R. J., & Praly, L. (1995). On passivity-based output feedback global stabilization of Euler-Lagrange systems. International Journal of Robust and Nonlinear Control, 5, 313-323. (ID: 1481)
  • Kelly Martínez, R. J. (1995). A tuning procedure for stable PID control of robot manipulators. Robotica, 13, 141-148. (ID: 1405)
1994
  • Kelly Martínez, R. J., Loria, A., Ortega, R., & Ailon, A. (1994). Global regulation of flexible joint robots using approximate differentiation. IEEE Transactions on Automatic Control, 39(6), 1222-1224. (ID: 6421)
  • Kelly Martínez, R. J., & Salgado, R. (1994). PD control with computed feedforward of robot manipulators: a design procedure. IEEE Transactions on Robotics and Automation, 10(4), 566-571. (ID: 8297)
1993
  • Kelly Martínez, R. J. (1993). Comments on "Adaptive PD controller for robot manipulators". IEEE Transactions on Robotics and Automation, 9(1), 117-119. (ID: 817)
  • Carelli, R., & Kelly Martínez, R. J. (1993). Adaptive impedance/force control of robots using singular models. Latin American Applied Research, 22, 1-9. (ID: 815)

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