Motion Tasks for Robot Manipulators on Embedded 2-D Manifolds under Input Constraints

Papageorgiou, X; Tanner, H; Kyriakopoulos, K

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Tanner, H	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T01:56:04Z
dc.date.available	2014-03-01T01:56:04Z
dc.date.issued	2007	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/27950
dc.relation.uri	http://users.ntua.gr/xpapag/0332.pdf	en
dc.relation.uri	http://research.me.udel.edu/~btanner/Papers/ECC07_X.pdf	en
dc.subject	Computer Simulation	en
dc.subject	Control Design	en
dc.subject	Input Constraint	en
dc.subject	Neural System	en
dc.subject	Obstacle Avoidance	en
dc.subject	Robot Manipulator	en
dc.title	Motion Tasks for Robot Manipulators on Embedded 2-D Manifolds under Input Constraints	en
heal.type	journalArticle	en
heal.publicationDate	2007	en
heal.abstract	We present a methodology to steer the end effector of a robotic manipulator, which is constrained in terms of joint rates, on the surface within the workspace. We develop controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints. We show that the resulting closed loop system is	en