TY - GEN
T1 - Compliant motion tasks for robot manipulators subject to joint velocity constraints
AU - Papageorgiou, Xanthi
AU - Kyriakopoulos, Kostas J.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=62949173805&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62949173805&partnerID=8YFLogxK
U2 - 10.1109/CDC.2008.4738866
DO - 10.1109/CDC.2008.4738866
M3 - Conference contribution
AN - SCOPUS:62949173805
SN - 9781424431243
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 4570
EP - 4575
BT - Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 47th IEEE Conference on Decision and Control, CDC 2008
Y2 - 9 December 2008 through 11 December 2008
ER -