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Title: Motion tasks and force control for robot manipulators on embedded 2-D manifolds
Authors: Papageorgiou, Xanthi
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Manipulators (Mechanics);Navigation;Feedback control systems;Robots
Issue Date: 2007
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2007, Rome, Italy
Abstract: In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace, and at the same time the manipulator can apply a force to the object, through its end-effector. Three typical tasks are considered, namely stabilization of the end effector over the object's surface and applying a specific force on it, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and are based on the belt zone vector fields concept. The derived dynamic controllers are realized using an integrator backstepping methodology. The derived feedback based controllers guarantee global convergence and collision avoidance. The closed form solution provides fast feedback rendering the methodology particularly suitable for implementation on real time systems. The properties of the proposed methodology are verified through non-trivial computer simulations.
ISSN: 10504729
DOI: 10.1109/ROBOT.2007.364125
Rights: © 2007 IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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