TY - GEN
T1 - Motion tasks for robot manipulators on embedded 2-D manifolds
AU - Papageorgiou, Xanthi
AU - Loizou, Savvas G.
AU - Kyriakopoulos, Kostas J.
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
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U2 - 10.1109/ISIC.2006.285556
DO - 10.1109/ISIC.2006.285556
M3 - Conference contribution
AN - SCOPUS:67449155796
SN - 0780397983
SN - 9780780397989
T3 - IEEE International Symposium on Intelligent Control - Proceedings
SP - 3047
EP - 3052
BT - Proceedings of the 2006 IEEE International Symposium on Intelligent Control, ISIC
T2 - Joint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Y2 - 4 October 2006 through 6 October 2006
ER -