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https://hdl.handle.net/20.500.14279/4372| Τίτλος: | Switching manipulator control for motion on constrained surfaces | Συγγραφείς: | Papageorgiou, Xanthi Tanner, Herbert G. Loizou, Savvas Kyriakopoulos, Kostas J. |
Major Field of Science: | Engineering and Technology | Field Category: | Computer and Information Sciences | Λέξεις-κλειδιά: | Non-smooth analysis;Robot navigation;Tracking | Ημερομηνία Έκδοσης: | Μαΐ-2011 | Πηγή: | 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 | Περιοδικό: | Journal of Intelligent and Robotic Systems | Περίληψη: | 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 |
| Εμφανίζεται στις συλλογές: | Άρθρα/Articles |
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