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CDC
2008
IEEE

Compliant motion tasks for robot manipulators subject to joint velocity constraints

8 years 6 months ago
Compliant motion tasks for robot manipulators subject to joint velocity constraints
We develop non-smooth motion controllers that enable redundant manipulators to perform surface tasks, that involve force/torque interactions. The robot joint rates are constrained within given limits. The end-effector is stabilized to a point, on the surface, and then tracks a trajectory on the surface, while respecting the input constraints and avoiding obstacles, and the same time applying a specific force on it. We show that the resulting closed loop system is uniformly asymptotically stable, and we verify our analytical development with simulations on a redundant robotic manipulator model.
Xanthi Papageorgiou, Kostas J. Kyriakopoulos
Added 12 Oct 2010
Updated 12 Oct 2010
Type Conference
Year 2008
Where CDC
Authors Xanthi Papageorgiou, Kostas J. Kyriakopoulos
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