Please use this identifier to cite or link to this item: https://ktisis.cut.ac.cy/handle/10488/7688
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dc.contributor.authorPapageorgiou, Xanthi-
dc.contributor.authorTanner, Herbert G.-
dc.contributor.authorLoizou, Savvas-
dc.contributor.authorKyriakopoulos, Kostas J.-
dc.date.accessioned2013-03-06T16:25:23Zen
dc.date.accessioned2013-05-17T10:30:28Z-
dc.date.accessioned2015-12-09T12:08:03Z-
dc.date.available2013-03-06T16:25:23Zen
dc.date.available2013-05-17T10:30:28Z-
dc.date.available2015-12-09T12:08:03Z-
dc.date.issued2011-05-
dc.identifier.citationJournal of Intelligent and Robotic Systems: Theory and Applications, 2011, vol. 62, no. 2, pp. 217-239en_US
dc.identifier.issn1573-0409-
dc.description.abstractWe 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.en_US
dc.formatpdfen_US
dc.language.isoenen_US
dc.publisherSpringeren
dc.relation.ispartofJournal of Intelligent and Robotic Systemsen_US
dc.rights© Springeren_US
dc.subjectNon-smooth analysisen_US
dc.subjectRobot navigationen_US
dc.subjectTrackingen_US
dc.titleSwitching manipulator control for motion on constrained surfacesen_US
dc.typeArticleen_US
dc.collaborationNational Technical University Of Athensen_US
dc.collaborationUniversity of Delawareen_US
dc.collaborationFrederick Universityen_US
dc.subject.categoryComputer and Information Sciencesen_US
dc.journalsSubscriptionen_US
dc.reviewpeer reviewed-
dc.countryGreeceen_US
dc.countryUnited Statesen_US
dc.countryCyprusen_US
dc.subject.fieldEngineering and Technologyen_US
dc.publicationPeer Revieweden_US
dc.identifier.doi10.1007/s10846-010-9447-2en_US
dc.dept.handle123456789/141en
dc.relation.issue2en_US
dc.relation.volume62en_US
cut.common.academicyear2010-2011en_US
dc.identifier.spage217en_US
dc.identifier.epage239en_US
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_6501-
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.openairetypearticle-
item.cerifentitytypePublications-
crisitem.author.deptDepartment of Mechanical Engineering and Materials Science and Engineering-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-4083-9946-
crisitem.author.parentorgFaculty of Engineering and Technology-
crisitem.journal.journalissn1573-0409-
crisitem.journal.publisherSpringer Nature-
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