Please use this identifier to cite or link to this item:
|Title:||Switching manipulator control for motion on constrained surfaces||Authors:||Papageorgiou, Xanthi
Tanner, Herbert G.
Kyriakopoulos, Kostas J.
|Major Field of Science:||Engineering and Technology||Field Category:||Computer and Information Sciences||Keywords:||Non-smooth analysis;Robot navigation;Tracking||Issue Date:||May-2011||Source:||Journal of Intelligent and Robotic Systems: Theory and Applications, 2011, vol. 62, no. 2, pp. 217-239||Volume:||62||Issue:||2||Start page:||217||End page:||239||Journal:||Journal of Intelligent and Robotic Systems||Abstract:||We develop non-smooth motion controllers that enable a manipulator to perform surface tasks that do not involve force/torque interactions, while maintaining bounded joint rates. The robot's end-effector is first stabilized to a point close to the surface, and then it tracks a trajectory on the surface, while avoiding certain prescribed regions. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with experiments on a Mitsubishi PA10-7C robotic manipulator.||ISSN:||1573-0409||DOI:||10.1007/s10846-010-9447-2||Rights:||© Springer||Type:||Article||Affiliation :||National Technical University Of Athens
University of Delaware
|Appears in Collections:||Άρθρα/Articles|
checked on Aug 31, 2020
Page view(s) 20160
checked on Sep 21, 2020
Items in KTISIS are protected by copyright, with all rights reserved, unless otherwise indicated.