TY - GEN
T1 - Motion tasks for robot manipulators on embedded 2-D manifolds under input constraints
AU - Papageorgiou, Xanthi
AU - Tanner, Herbert G.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2007 EUCA.
PY - 2007
Y1 - 2007
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84927720781&partnerID=8YFLogxK
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U2 - 10.23919/ecc.2007.7068432
DO - 10.23919/ecc.2007.7068432
M3 - Conference contribution
AN - SCOPUS:84927720781
T3 - 2007 European Control Conference, ECC 2007
SP - 3783
EP - 3789
BT - 2007 European Control Conference, ECC 2007
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2007 9th European Control Conference, ECC 2007
Y2 - 2 July 2007 through 5 July 2007
ER -