Robustness enhancement of computer torque robot control via adaptive compensation. - Romeo Ortega; Rafael Kelly; Juan Ibarra (ICRA, 1987)

Adaptive control of robot manipulators: an input-output approach. - Rafael Kelly; Romeo Ortega (ICRA, 1988)

On adaptive impedance control of robot manipulators. - Rafael Kelly; Ricardo O. Carelli; Mauricio Amestegui; Romeo Ortega (ICRA, 1989)

Comments on 'Adaptive PD controller for robot manipulators'. - Rafael Kelly (IEEE Trans. Robotics Autom., 1993)

Global regulation of flexible joint robots using approximate differentiation. - Rafael Kelly; Romeo Ortega; Amit Ailon; Antonio Loría (IEEE Trans. Autom. Control., 1994)

PD control with computed feedforward of robot manipulators: a design procedure. - Rafael Kelly; Ricardo Salgado (IEEE Trans. Robotics Autom., 1994)

Strict Lyapunov Functions for Global Regulation of Robot Manipulators. - Victor Santibañez; Rafael Kelly (ICRA, 1995)

A tuning procedure for stable PID control of robot manipulators. - Rafael Kelly (Robotica, 1995)

A semiglobally stable output feedback PI2D regulator for robot manipulators. - Romeo Ortega; Antonio Loría; Rafael Kelly (IEEE Trans. Autom. Control., 1995)

A class of output feedback globally stabilizing controllers for flexible joints robots. - Romeo Ortega; Rafael Kelly; Antonio Loría (IEEE Trans. Robotics Autom., 1995)

Fixed-camera visual servo control for planar robots. - Rafael Kelly; Paul Shirkey; Mark W. Spong (ICRA, 1996)

Global regulation for robot manipulators under SP-SD feedback. - Víctor Santibáñez; Rafael Kelly (ICRA, 1996)

A class of nonlinear PD-type controllers for robot manipulators. - Rafael Kelly; Ricardo O. Carelli (J. Field Robotics, 1996)

Robust asymptotically stable visual servoing of planar robots. - Rafael Kelly (IEEE Trans. Robotics Autom., 1996)

On parameter identification of robot manipulators. - Fernando Reyes-Cortés; Rafael Kelly (ICRA, 1997)

Energy shaping based controllers for rigid and elastic joint robots: analysis via passivity theorems. - Víctor Santibáñez; Rafael Kelly (ICRA, 1997)

Strict Lyapunov functions for control of robot manipulators. - Víctor Santibáñez; Rafael Kelly (Autom., 1997)

On Global Regulation of Robot Manipulators: Saturated Linear State Feedback and Saturated Linear Output Feedback. - Víctor Santibáñez; Rafael Kelly (Eur. J. Control, 1997)

PD Control with Desired Gravity Compensation of Robotic Manipulators: A Review. - Rafael Kelly (Int. J. Robotics Res., 1997)

Experimental Evaluation of Identification Schemes on a Direct Drive Robot. - Fernando Reyes-Cortés; Rafael Kelly (Robotica, 1997)

On global output feedback regulation of Euler-Lagrange systems with bounded inputs. - Antonio Loría; Rafael Kelly; Romeo Ortega; Víctor Santibáñez (IEEE Trans. Autom. Control., 1997)

Stable Fuzzy Self-Tuning Computed-Torque Control of Robot Manipulators. - Miguel A. Llama; Victor Santibañez; Rafael Kelly; Jesus Flores (ICRA, 1998)

Experimental Evaluation of Fixed-Camera Direct Visual Controllers on a Direct-Drive Robot. - Fernando Reyes-Cortés; Rafael Kelly (ICRA, 1998)

A Class of Nonlinear PID Global Regulators for Robot Manipulators. - Victor Santibañez; Rafael Kelly (ICRA, 1998)

Global positioning of robot manipulators via PD control plus a class of nonlinear integral actions. - Rafael Kelly (IEEE Trans. Autom. Control., 1998)

Global regulation of elastic joint robots based on energy shaping. - Rafael Kelly; Víctor Santibáñez (IEEE Trans. Autom. Control., 1998)

A new set-point controller with bounded torques for robot manipulators. - Víctor Santibáñez; Rafael Kelly; Fernando Reyes 001 (IEEE Trans. Ind. Electron., 1998)

Determination of Viscous and Coulomb Friction by Using Velocity Responses to Torque Ramp Inputs. - Rafael Kelly; Jesús Llamas (ICRA, 1999)

A Two Loops Direct Visual Control of Direct-Drive Planar Robots with Moving Target. - Rafael Kelly; Fernando Reyes-Cortés; Javier Moreno-Valenzuela; Seth Hutchinson 001 (ICRA, 1999)

Global Convergence of the Adaptive PD Controller with Computed Feedforward for Robot Manipulators. - Victor Santibañez; Rafael Kelly (ICRA, 1999)

Lyapunov Stable Control of Robot Manipulators: A Fuzzy Self-Tuning Procedure. - Rafael Kelly; Rodolfo Haber 002; Rodolfo Haber-Guerra; Fernando Reyes-Cortés (Intell. Autom. Soft Comput., 1999)

Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators. - Rafael Kelly; Angel Coello (Robotica, 1999)

Regulation of manipulators in generic task space: an energy shaping plus damping injection approach. - Rafael Kelly (IEEE Trans. Robotics Autom., 1999)

Fuzzy PD+ Control for Robot Manipulators. - Victor Santibañez; Rafael Kelly; Miguel A. Llama (ICRA, 2000)

On vision systems identification with application to fixed-camera robotic systems. - Rafael Kelly; Fernando Reyes-Cortés (Int. J. Imaging Syst. Technol., 2000)

Asymptotically stable visual servoing of manipulators via neural networks. - Rafael Kelly; Jesús Favela; Juan M. Ibarra; Danilo Bassi (J. Field Robotics, 2000)

A measurement procedure for viscous and coulomb friction. - Rafael Kelly; Jesús Llamas; Ricardo Campa (IEEE Trans. Instrum. Meas., 2000)

Stable computed-torque control of robot manipulators via fuzzy self-tuning. - Miguel A. Llama; Rafael Kelly; Victor Santibañez (IEEE Trans. Syst. Man Cybern. Part B, 2000)

Manipulator motion control in operational space using joint velocity inner loops. - Rafael Kelly; Javier Moreno; Fermín Pérez (CDC, 2001)

Global asymptotic stability of bounded output feedback tracking control for robot manipulators. - Víctor Santibáñez; Rafael Kelly (CDC, 2001)

On Stability of the Resolved Acceleration Control. - Ricardo Campa; Rafael Kelly; Eloísa García (ICRA, 2001)

A stable motion control system for manipulators via fuzzy self-tuning. - Miguel A. Llama; Rafael Kelly; Victor Santibañez (Fuzzy Sets Syst., 2001)

An application of real-time control systems to robotics. - Carmen Monroy; Ricardo Campa; Rafael Kelly (Robotica, 2001)

PD control with feedforward compensation for robot manipulators: analysis and experimentation. - Víctor Santibáñez; Rafael Kelly (Robotica, 2001)

Learning PID structures in an introductory course of automatic control. - Rafael Kelly; Javier Moreno-Valenzuela (IEEE Trans. Educ., 2001)

On velocity control using friction compensation. - Javier Moreno-Valenzuela; Rafael Kelly; Ricardo Campa (CDC, 2002)

Experimental Evaluation of Task Space Regulators using Unit Quaternions on a Direct-Drive Spherical Wrist. - Eloísa García; Rafael Kelly (ICRA, 2002)

On Manipulator Velocity Control using Friction Compensation. - Javier Moreno-Valenzuela; Rafael Kelly; Ricardo Campa (ICRA, 2002)

Robotic Tasks Using Path Control: Two Case Studies. - Javier Moreno-Valenzuela; Rafael Kelly (J. Intell. Robotic Syst., 2002)

A robust velocity field control. - Ilse Cervantes; Rafael Kelly; Jose Alvarez-Ramirez; Javier Moreno-Valenzuela (IEEE Trans. Control. Syst. Technol., 2002)

Manipulator velocity field control with dynamic friction compensation. - Javier Moreno-Valenzuela; Rafael Kelly (CDC, 2003)

Uniform parametric convergence in the adaptive control of manipulators: a case restudied. - Antonio Loría; Rafael Kelly; Andrew R. Teel (ICRA, 2003)

Hierarchical velocity field control for robot manipulators. - Javier Moreno-Valenzuela; Rafael Kelly (ICRA, 2003)

Semiglobal stability of saturated linear PID control for robot manipulators. - Jose Alvarez-Ramirez; Rafael Kelly; Ilse Cervantes (Autom., 2003)

Visual servoing of planar robots via velocity fields. - Rafael Kelly; Javier Moreno-Valenzuela; Ricardo Campa (CDC, 2004)

Robot control without velocity measurements: new theory and experimental results. - Marco A. Arteaga; Rafael Kelly (IEEE Trans. Robotics Autom., 2004)

Global asymptotic stability of a tracking sectorial fuzzy controller for robot manipulators. - Victor Santibañez; Rafael Kelly; Miguel A. Llama (IEEE Trans. Syst. Man Cybern. Part B, 2004)

Pose Regulation of Robot Manipulators with Dynamic Friction Compensation. - Javier Moreno-Valenzuela; Rafael Kelly (CDC/ECC, 2005)

Control of the Inertia Wheel Pendulum by Bounded Torques. - Víctor Santibáñez; Rafael Kelly; Jesus Sandoval (CDC/ECC, 2005)

A Fixed- Camera Controller for Visual Guidance of Mobile Robots via Velocity Fields. - Rafael Kelly; Victor Sanchez; Eusebio Bugarin; Humberto Rodríguez (ICRA, 2005)

Manipulator motion control in operational space using joint velocity inner loops. - Rafael Kelly; Javier Moreno-Valenzuela (Autom., 2005)

Uniform Parametric Convergence in the Adaptive Control of Mechanical Systems. - Antonio Loría; Rafael Kelly; Andrew R. Teel (Eur. J. Control, 2005)

Learning control of robot manipulators by interactive simulation. - Rafael Kelly; Sebastián Dormido 001; Carmen Monroy; Elizabeth Díaz (Robotica, 2005)

A novel global asymptotic stable set-point fuzzy controller with bounded torques for robot manipulators. - Victor Santibañez; Rafael Kelly; Miguel A. Llama (IEEE Trans. Fuzzy Syst., 2005)

Robustness of PID-controlled manipulators with respect to external disturbances. - Antoine Chaillet; Antonio Loría; Rafael Kelly (CDC, 2006)

Monocular direct visual servoing for regulation of manipulators moving in the 3D Cartesian space. - Rafael Kelly; Eusebio Bugarin; Ilse Cervantes; Jose Alvarez-Ramirez (CDC, 2006)

Image-based visual control of nonholonomic mobile robots via velocity fields: Case of partially calibrated inclined camera. - Rafael Kelly; Eusebio Bugarin; Victor Sanchez (CDC, 2006)

Coordinated Control Of Mobile Robots Based On Artificial Vision. - Carlos Miguel Soria; Ricardo O. Carelli; Rafael Kelly; Juan Manuel Ibarra Zannatha (Int. J. Comput. Commun. Control, 2006)

On Control for Agents Formation. - Rafael Kelly; Eusebio Bugarin; Carmen Monroy (IFSA (1), 2007)

Robustness of PID-controlled Manipulators vis-à-vis Actuator Dynamics and External Disturbances. - Antoine Chaillet; Antonio Loría; Rafael Kelly (Eur. J. Control, 2007)

Remote Visual Servoing of a Robot Manipulator via Internet2. - Carmen Monroy; Rafael Kelly; Marco A. Arteaga; Eusebio Bugarin (J. Intell. Robotic Syst., 2007)

RTSVC: Real-time system for visual control of robots. - Eusebio Bugarin; Rafael Kelly (Int. J. Imaging Syst. Technol., 2008)

Visual Control Of A Remote Robot Manipulator Via Internet 2. - Carmen Monroy; Rafael Kelly; Dann De La Torre (International Conference on Internet Computing, 2009)

Interactive Animation of Agent Formation Based on Hopfield Neural Networks. - Rafael Kelly; Carmen Monroy (IWANN (1), 2009)

On output regulation of direct visual servoing via velocity fields. - Ricardo R. Pérez; Marco A. Arteaga; Rafael Kelly; Arturo Espinosa (Int. J. Control, 2009)

Regulation of mechanisms with friction driven by brushed DC motors via IDA-PBC method. - Jesus Sandoval; Rafael Kelly; Víctor Santibáñez (CDC, 2010)

On the Controlled Lagrangian of an inverted pendulum on a force-driven cart. - Jesus Sandoval; Rafael Kelly; Víctor Santibáñez (ECC, 2015)

On robustness of PD control with gravity compensation of torque-driven robot manipulators. - Rafael Kelly; Carmen Monroy (ICCAD, 2019)

On Simplified Models of Position Servo Actuators for control purposes. - Rafael Kelly; Gabriela Zepeda; Carmen Monroy (ICCAD, 2021)

A GUAS Joint Position Tracking Controller of Torque-Driven Robot Manipulators Influenced by Dynamic Dahl Friction: Theory and Experiments. - Rafael Kelly; Jesús Sandoval; Víctor Santibáñez (IEEE Trans. Control. Syst. Technol., 2021)

A speed regulator for a force-driven cart-pole system. - Jesús Sandoval; Rafael Kelly; Víctor Santibáñez (Int. J. Syst. Sci., 2022)

Energy regulation of torque-driven robot manipulators in joint space. - Jesús Sandoval; Rafael Kelly; Víctor Santibáñez; Jorge Villalobos-Chin (J. Frankl. Inst., 2022)

A Globally Smooth Adaptive Tracking Controller for a Velocity Servo Actuator Model. - Rafael Kelly; Gabriela Zepeda; Carmen Monroy (ICCAD, 2024)

Global joint position regulation of a class of torque-driven robot manipulators within actuators prescribed safe operating torque-speed area. - Rafael Kelly; Adriana Salinas; Diana V. Cajero; Gabriela Zepeda (Int. J. Control, 2025)