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 surf...

Full description

Saved in:
Bibliographic Details
Published in2008 47th IEEE Conference on Decision and Control pp. 4570 - 4575
Main Authors Papageorgiou, X., Kyriakopoulos, K.J.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2008
Subjects
Collision avoidance
Force control
Kinematics
Manipulator dynamics
Motion control
Robots
Surface cleaning
Torque control
Trajectory
Velocity control
Online AccessGet full text
ISBN9781424431236
1424431239
ISSN0191-2216
DOI10.1109/CDC.2008.4738866

Cover

More Information
Summary: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.
ISBN:9781424431236
1424431239
ISSN:0191-2216
DOI:10.1109/CDC.2008.4738866