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Πεδίο DCΤιμήΓλώσσα
dc.contributor.authorPapageorgiou, Xanthien
dc.contributor.authorKyriakopoulos, Kostas J.en
dc.contributor.authorLoizou, Savvas-
dc.contributor.otherΛοΐζου, Σάββας-
dc.date.accessioned2013-03-11T13:19:20Zen
dc.date.accessioned2013-05-17T05:34:11Z-
dc.date.accessioned2015-12-02T12:27:25Z-
dc.date.available2013-03-11T13:19:20Zen
dc.date.available2013-05-17T05:34:11Z-
dc.date.available2015-12-02T12:27:25Z-
dc.date.issued2006en
dc.identifier.citationIEEE International Symposium on Intelligent Control - Proceedings, 2006, Pages 3047-3052en
dc.identifier.isbn0780397983en
dc.identifier.urihttps://hdl.handle.net/20.500.14279/2938-
dc.description.abstractIn 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.formatpdfen
dc.language.isoenen
dc.rights© 2006 IEEEen
dc.subjectManipulators (Mechanics)en
dc.subjectFeedback control systemsen
dc.subjectComputer simulationen
dc.titleMotion tasks for robot manipulators on embedded 2-D manifoldsen
dc.typeBook Chapteren
dc.collaborationUniversity of Pennsylvania-
dc.identifier.doi10.1109/ISIC.2006.285556en
dc.dept.handle123456789/54en
item.fulltextNo Fulltext-
item.languageiso639-1en-
item.grantfulltextnone-
item.openairecristypehttp://purl.org/coar/resource_type/c_3248-
item.cerifentitytypePublications-
item.openairetypebookPart-
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-
Εμφανίζεται στις συλλογές:Κεφάλαια βιβλίων/Book chapters
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