Controlling the motion of robot manipulators on constrained surfaces

Papageorgiou, X; Kyriakopoulos, K

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:51:52Z
dc.date.available	2014-03-01T02:51:52Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35706
dc.subject	Computer Simulation	en
dc.subject	Input Constraint	en
dc.subject	Robot Manipulator	en
dc.title	Controlling the motion of robot manipulators on constrained surfaces	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2009.5164731	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2009.5164731	en
heal.publicationDate	2009	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, to perform surface tasks. We develop smooth controllers for stabilizing the end effector to a point, and for tracking a trajectory on this surface, while respecting the input constraints, and the same time	en
heal.journalName	Mediterranean Conference on Control and Automation	en
dc.identifier.doi	10.1109/MED.2009.5164731	en