Switching manipulator control for motion on constrained surfaces

Papageorgiou, X; Tanner, HG; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Tanner, HG	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:37:11Z
dc.date.available	2014-03-01T01:37:11Z
dc.date.issued	2011	en
dc.identifier.issn	0921-0296	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/21477
dc.subject	Non-smooth analysis	en
dc.subject	Robot navigation	en
dc.subject	Tracking	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	Asymptotically stable	en
dc.subject.other	Manipulator control	en
dc.subject.other	Mitsubishi	en
dc.subject.other	Motion controller	en
dc.subject.other	Non-smooth	en
dc.subject.other	Robot navigation	en
dc.subject.other	Robotic manipulators	en
dc.subject.other	Closed loop systems	en
dc.subject.other	Robots	en
dc.subject.other	Manipulators	en
dc.title	Switching manipulator control for motion on constrained surfaces	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10846-010-9447-2	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10846-010-9447-2	en
heal.language	English	en
heal.publicationDate	2011	en
heal.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. © Springer Science+Business Media B.V. 2010.	en
heal.publisher	SPRINGER	en
heal.journalName	Journal of Intelligent and Robotic Systems: Theory and Applications	en
dc.identifier.doi	10.1007/s10846-010-9447-2	en
dc.identifier.isi	ISI:000289566000003	en
dc.identifier.volume	62	en
dc.identifier.issue	2	en
dc.identifier.spage	217	en
dc.identifier.epage	239	en