@ARTICLE{6710135, author={M. Bjerkeng and P. Falco and C. Natale and K. Y. Pettersen}, journal={IEEE Transactions on Robotics}, title={Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-Based Control of Robotic Systems}, year={2014}, volume={30}, number={3}, pages={745-753}, keywords={delays;discrete time systems;feedback;industrial manipulators;manipulator kinematics;motion control;robot vision;sensors;stability;synchronisation;visual servoing;stability analysis;discrete time kinematic sensor-based control;robotic systems;hierarchical inner-loop control architecture;hierarchical outer-loop control architecture;servo-level joint controller;kinematic feedback;visual servoing problems;redundancy control;coordination problem;synchronization problem;input-output delays;outer feedback loop;Kuka K-R16 manipulator;industrial robot manipulators;Robot kinematics;Robot sensing systems;Delays;Stability criteria;Joints;Calibration and identification;discrete-time stability;kinematics;output feedback control;redundant robots;velocity control}, doi={10.1109/TRO.2013.2294882}, ISSN={1552-3098}, month={June},}