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Switching Manipulator Control for Motion on Constrained Surfaces

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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.

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Authors and Affiliations

  1. National Technical University of Athens, 9 Heroon Polytechniou St, Zografou, Athens, 15780, Greece

    Xanthi Papageorgiou & Kostas J. Kyriakopoulos

  2. 110 Spencer Lab, University of Delaware, Newark, DE, 19716, USA

    Herbert G. Tanner

  3. Frederick University, 7 Y. Frederickou St, Pallouriotisa, Nicosia, 1036, Cyprus

    Savvas G. Loizou

Authors
  1. Xanthi Papageorgiou
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  2. Herbert G. Tanner
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  3. Savvas G. Loizou
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  4. Kostas J. Kyriakopoulos
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Corresponding author

Correspondence to Xanthi Papageorgiou.

Additional 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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Papageorgiou, X., Tanner, H.G., Loizou, S.G. et al. Switching Manipulator Control for Motion on Constrained Surfaces. J Intell Robot Syst 62, 217–239 (2011). https://doi.org/10.1007/s10846-010-9447-2

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  • DOI: https://doi.org/10.1007/s10846-010-9447-2

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