Motion tasks for robot manipulators subject to joint velocity constraints
X Papageorgiou… - 2008 IEEE/RSJ …, 2008 - ieeexplore.ieee.org
2008 IEEE/RSJ International Conference on Intelligent Robots and …, 2008•ieeexplore.ieee.org
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.
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.
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.
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