Switching manipulator control for motion on constrained surfaces

Xanthi Papageorgiou; Herbert G. Tanner; Savvas G. Loizou; Kostas J. Kyriakopoulos

doi:10.1007/s10846-010-9447-2

Switching manipulator control for motion on constrained surfaces

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

Electrical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

We develop non-smooth motion controllers that enable a manipulator to perform surface tasks that do not involve force/torque interactions, while maintaining bounded joint rates. The robot's end-effector is first stabilized to a point close to the surface, and then it tracks a trajectory on the surface, while avoiding certain prescribed regions. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with experiments on a Mitsubishi PA10-7C robotic manipulator.

Original language	English (US)
Pages (from-to)	217-239
Number of pages	23
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	62
Issue number	2
DOIs	https://doi.org/10.1007/s10846-010-9447-2
State	Published - May 2011

Keywords

Non-smooth analysis
Robot navigation
Tracking

ASJC Scopus subject areas

Software
Control and Systems Engineering
Mechanical Engineering
Industrial and Manufacturing Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1007/s10846-010-9447-2

Cite this

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title = "Switching manipulator control for motion on constrained surfaces",

abstract = "We develop non-smooth motion controllers that enable a manipulator to perform surface tasks that do not involve force/torque interactions, while maintaining bounded joint rates. The robot's end-effector is first stabilized to a point close to the surface, and then it tracks a trajectory on the surface, while avoiding certain prescribed regions. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with experiments on a Mitsubishi PA10-7C robotic manipulator.",

keywords = "Non-smooth analysis, Robot navigation, Tracking",

author = "Xanthi Papageorgiou and Tanner, {Herbert G.} and Loizou, {Savvas G.} and Kyriakopoulos, {Kostas J.}",

note = "Funding Information: This paper is part of the 03ED 77 research project, implemented within the framework of the “Reinforcement Programme of Human Research Manpower” (PENED) and co-financed by National and Community Funds (25% from the Greek Ministry of Development-General Secretariat of Research and Technology and 75% from E.U.-European Social Fund). Also, this work is partially supported by the European Commission through contract “FP6-IST-001917-NEUROBOTICS: The Fusion of Neuroscience and Robotics”, and by Eugenides Foundation Scholarship.",

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doi = "10.1007/s10846-010-9447-2",

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AU - Tanner, Herbert G.

AU - Loizou, Savvas G.

AU - Kyriakopoulos, Kostas J.

N1 - Funding Information: This paper is part of the 03ED 77 research project, implemented within the framework of the “Reinforcement Programme of Human Research Manpower” (PENED) and co-financed by National and Community Funds (25% from the Greek Ministry of Development-General Secretariat of Research and Technology and 75% from E.U.-European Social Fund). Also, this work is partially supported by the European Commission through contract “FP6-IST-001917-NEUROBOTICS: The Fusion of Neuroscience and Robotics”, and by Eugenides Foundation Scholarship.

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N2 - We develop non-smooth motion controllers that enable a manipulator to perform surface tasks that do not involve force/torque interactions, while maintaining bounded joint rates. The robot's end-effector is first stabilized to a point close to the surface, and then it tracks a trajectory on the surface, while avoiding certain prescribed regions. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with experiments on a Mitsubishi PA10-7C robotic manipulator.

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KW - Tracking

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Switching manipulator control for motion on constrained surfaces

Abstract

Keywords

ASJC Scopus subject areas

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