Motion tasks for robot manipulators on embedded 2-D manifolds

Xanthi Papageorgiou, Savvas G. Loizou, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 IEEE International Symposium on Intelligent Control, ISIC
Pages3047-3052
Number of pages6
DOIs
StatePublished - 2006
EventJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC) - Munich, Germany
Duration: Oct 4 2006Oct 6 2006

Publication series

NameIEEE International Symposium on Intelligent Control - Proceedings

Conference

ConferenceJoint 2006 IEEE Conference on Control Applications (CCA), Computer-Aided Control Systems Design Symposium (CACSD) and International Symposium on Intelligent Control (ISIC)
Country/TerritoryGermany
CityMunich
Period10/4/0610/6/06

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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