Switching Manipulator Control for Motion on Constrained Surfaces

Authors:
Xanthi Papageorgiou;Herbert G. Tanner;Savvas G. Loizou;Kostas J. Kyriakopoulos
Affiliations:
National Technical University of Athens, Athens, Greece 15780;110 Spencer Lab, University of Delaware, Newark, USA 19716;Frederick University, Nicosia, Cyprus 1036;National Technical University of Athens, Athens, Greece 15780
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

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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.