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Title: Switching manipulator control for motion on constrained surfaces
Authors: Papageorgiou, Xanthi 
Tanner, Herbert G. 
Loizou, Savvas 
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 
Frederick University 
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