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