Please use this identifier to cite or link to this item:
https://hdl.handle.net/20.500.14279/4372
Title: | Switching manipulator control for motion on constrained surfaces |
Authors: | Papageorgiou, Xanthi Tanner, Herbert G. Loizou, Savvas Kyriakopoulos, Kostas J. |
Major Field of Science: | Engineering and Technology |
Field Category: | Computer and Information Sciences |
Keywords: | Non-smooth analysis;Robot navigation;Tracking |
Issue Date: | May-2011 |
Source: | Journal of Intelligent and Robotic Systems: Theory and Applications, 2011, vol. 62, no. 2, pp. 217-239 |
Volume: | 62 |
Issue: | 2 |
Start page: | 217 |
End page: | 239 |
Journal: | Journal of Intelligent and Robotic Systems |
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. |
URI: | https://hdl.handle.net/20.500.14279/4372 |
ISSN: | 15730409 |
DOI: | 10.1007/s10846-010-9447-2 |
Rights: | © Springer |
Type: | Article |
Affiliation : | National Technical University Of Athens University of Delaware Frederick University |
Publication Type: | Peer Reviewed |
Appears in Collections: | Άρθρα/Articles |
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