Please use this identifier to cite or link to this item: http://ktisis.cut.ac.cy/handle/10488/7814
Title: Motion tasks for robot manipulators on embedded 2-D manifolds
Authors: Papageorgiou, Xanthi
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Manipulators (Mechanics)
Feedback control systems
Computer simulation
Issue Date: 2006
Publisher: IEEE
Source: IEEE International Symposium on Intelligent Control - Proceedings, 2006, Pages 3047-3052
Abstract: In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and are based on the belt zone vector fields concept. The derived dynamic controllers are realized using an integrator backstepping methodology. The derived feedback based controllers guarantee global convergence and collision avoidance. The closed form solution provides fast feedback rendering the methodology particularly suitable for implementation on real time systems. The properties of the proposed methodology are verified through non-trivial computer simulations.
URI: http://ktisis.cut.ac.cy/handle/10488/7814
ISBN: 0780397983
DOI: 10.1109/ISIC.2006.285556
Rights: © 2006 IEEE
Appears in Collections:Κεφάλαια βιβλίων/Book chapters

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