Compliant motion tasks for robot manipulators subject to joint velocity constraints

Papageorgiou, X; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:45:12Z
dc.date.available	2014-03-01T02:45:12Z
dc.date.issued	2008	en
dc.identifier.issn	01912216	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32195
dc.subject	Input Constraint	en
dc.subject	Robot Manipulator	en
dc.subject.other	Asymptotically stables	en
dc.subject.other	Avoiding obstacles	en
dc.subject.other	Closed loops	en
dc.subject.other	Compliant motions	en
dc.subject.other	End-effector	en
dc.subject.other	Input constraints	en
dc.subject.other	Joint velocities	en
dc.subject.other	Motion controllers	en
dc.subject.other	Non smoothes	en
dc.subject.other	Robot joints	en
dc.subject.other	Robot manipulators	en
dc.subject.other	Robotic manipulators	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	Flexible manipulators	en
dc.subject.other	Robot applications	en
dc.subject.other	Robots	en
dc.subject.other	Robotics	en
dc.title	Compliant motion tasks for robot manipulators subject to joint velocity constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/CDC.2008.4738866	en
heal.identifier.secondary	http://dx.doi.org/10.1109/CDC.2008.4738866	en
heal.identifier.secondary	4738866	en
heal.publicationDate	2008	en
heal.abstract	We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained within given limits. The end-effector is stabilized to a point, on the surface, and then tracks a trajectory on the surface, while respecting the input constraints and avoiding obstacles, and the same time applying a specific force on it. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with simulations on a redundant robotic manipulator model. © 2008 IEEE.	en
heal.journalName	Proceedings of the IEEE Conference on Decision and Control	en
dc.identifier.doi	10.1109/CDC.2008.4738866	en
dc.identifier.spage	4570	en
dc.identifier.epage	4575	en