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|Title:||Switching manipulator control for motion on constrained surfaces||Authors:||Papageorgiou, Xanthi
Tanner, Herbert G.
|Keywords:||Navigation;Manipulators (Mechanism);Robots;Surfaces||Category:||Electrical Engineering , Electronic Engineering, Information Engineering||Field:||Engineering and Technology||Issue Date:||2011||Publisher:||Springer||Source:||Journal of Intelligent and Robotic Systems: Theory and Applications, 2011, Volume 62, Issue 2, Pages 217-239||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.||URI:||http://ktisis.cut.ac.cy/handle/10488/7688||ISSN:||09210296||DOI:||10.1007/s10846-010-9447-2||Rights:||© Springer Science+Business Media B.V||Type:||Article|
|Appears in Collections:||Άρθρα/Articles|
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