Motion tasks for robot manipulators on embedded 2-D manifolds

Papageorgiou, X; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:44:06Z
dc.date.available	2014-03-01T02:44:06Z
dc.date.issued	2006	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31680
dc.subject	Closed Form Solution	en
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Global Convergence	en
dc.subject	Motion Planning	en
dc.subject	Robot Manipulator	en
dc.subject	Trajectory Tracking	en
dc.subject	Vector Field	en
dc.subject	Real Time Systems	en
dc.subject.other	Motion tasks	en
dc.subject.other	Navigation functions	en
dc.subject.other	Robot manipulators	en
dc.subject.other	Workspace	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Embedded systems	en
dc.subject.other	Feedback control	en
dc.subject.other	Motion planning	en
dc.subject.other	Robotics	en
dc.subject.other	Two dimensional	en
dc.subject.other	Manipulators	en
dc.title	Motion tasks for robot manipulators on embedded 2-D manifolds	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ISIC.2006.285556	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ISIC.2006.285556	en
heal.identifier.secondary	4064993	en
heal.publicationDate	2006	en
heal.abstract	In 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. © 2006 IEEE.	en
heal.journalName	IEEE International Symposium on Intelligent Control - Proceedings	en
dc.identifier.doi	10.1109/ISIC.2006.285556	en
dc.identifier.spage	3047	en
dc.identifier.epage	3052	en