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	2014-03-01T02:45:39Z
dc.date.available	2014-03-01T02:45:39Z
dc.date.issued	2008	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/32314
dc.subject	Collision Avoidance	en
dc.subject	Computer Simulation	en
dc.subject	Control Design	en
dc.subject	Force Control	en
dc.subject	Inequality Constraint	en
dc.subject	Input Constraint	en
dc.subject	Motion Control	en
dc.subject	Neural System	en
dc.subject	Obstacle Avoidance	en
dc.subject	Optimization Problem	en
dc.subject	Robot Manipulator	en
dc.subject	Neural Network	en
dc.subject	Real Time	en
dc.subject.other	Asymptotically stable	en
dc.subject.other	Input constraints	en
dc.subject.other	Joint velocity	en
dc.subject.other	Motion tasks	en
dc.subject.other	Robot manipulator	en
dc.subject.other	Robotic manipulators	en
dc.subject.other	Closed loop control systems	en
dc.subject.other	End effectors	en
dc.subject.other	Intelligent robots	en
dc.subject.other	Robot applications	en
dc.subject.other	Flexible manipulators	en
dc.title	Motion tasks for robot manipulators subject to joint velocity constraints	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2008.4650979	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2008.4650979	en
heal.identifier.secondary	4650979	en
heal.publicationDate	2008	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 uniformly asymptotically stable and we verify our analytical development with computer simulations. ©2008 IEEE.	en
heal.journalName	2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS	en
dc.identifier.doi	10.1109/IROS.2008.4650979	en
dc.identifier.spage	2139	en
dc.identifier.epage	2144	en