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https://hdl.handle.net/20.500.14279/2938
Πεδίο DC | Τιμή | Γλώσσα |
---|---|---|
dc.contributor.author | Papageorgiou, Xanthi | en |
dc.contributor.author | Kyriakopoulos, Kostas J. | en |
dc.contributor.author | Loizou, Savvas | - |
dc.contributor.other | Λοΐζου, Σάββας | - |
dc.date.accessioned | 2013-03-11T13:19:20Z | en |
dc.date.accessioned | 2013-05-17T05:34:11Z | - |
dc.date.accessioned | 2015-12-02T12:27:25Z | - |
dc.date.available | 2013-03-11T13:19:20Z | en |
dc.date.available | 2013-05-17T05:34:11Z | - |
dc.date.available | 2015-12-02T12:27:25Z | - |
dc.date.issued | 2006 | en |
dc.identifier.citation | IEEE International Symposium on Intelligent Control - Proceedings, 2006, Pages 3047-3052 | en |
dc.identifier.isbn | 0780397983 | en |
dc.identifier.uri | https://hdl.handle.net/20.500.14279/2938 | - |
dc.description.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. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, 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. | en |
dc.format | en | |
dc.language.iso | en | en |
dc.rights | © 2006 IEEE | en |
dc.subject | Manipulators (Mechanics) | en |
dc.subject | Feedback control systems | en |
dc.subject | Computer simulation | en |
dc.title | Motion tasks for robot manipulators on embedded 2-D manifolds | en |
dc.type | Book Chapter | en |
dc.collaboration | University of Pennsylvania | - |
dc.identifier.doi | 10.1109/ISIC.2006.285556 | en |
dc.dept.handle | 123456789/54 | en |
item.fulltext | No Fulltext | - |
item.languageiso639-1 | en | - |
item.grantfulltext | none | - |
item.openairecristype | http://purl.org/coar/resource_type/c_3248 | - |
item.cerifentitytype | Publications | - |
item.openairetype | bookPart | - |
crisitem.author.dept | Department of Mechanical Engineering and Materials Science and Engineering | - |
crisitem.author.faculty | Faculty of Engineering and Technology | - |
crisitem.author.orcid | 0000-0003-4083-9946 | - |
crisitem.author.parentorg | Faculty of Engineering and Technology | - |
Εμφανίζεται στις συλλογές: | Κεφάλαια βιβλίων/Book chapters |
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