Switching manipulator control for motion on constrained surfaces

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

Research output: Contribution to journalArticlepeer-review


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 languageEnglish (US)
Pages (from-to)217-239
Number of pages23
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Issue number2
StatePublished - May 2011


  • 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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