TY - GEN
T1 - Motion tasks for robot manipulators subject to joint velocity constraints
AU - Papageorgiou, Xanthi
AU - Kyriakopoulos, Kostas J.
PY - 2008
Y1 - 2008
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=69549124382&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=69549124382&partnerID=8YFLogxK
U2 - 10.1109/IROS.2008.4650979
DO - 10.1109/IROS.2008.4650979
M3 - Conference contribution
AN - SCOPUS:69549124382
SN - 9781424420582
T3 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
SP - 2139
EP - 2144
BT - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
T2 - 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Y2 - 22 September 2008 through 26 September 2008
ER -