کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
412315 | 679624 | 2006 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Path-constrained control of a redundant manipulator in a task space
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Path-constrained control of a redundant manipulator in a task space Path-constrained control of a redundant manipulator in a task space](/preview/png/412315.png)
چکیده انگلیسی
This study addresses the problem of controlling a redundant manipulator with both state and control dependent constraints. The task of the robot is to follow by the end-effector a prescribed geometric path given in the task space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Provided that a solution to the aforementioned robot task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results, carried out for a planar manipulator whose end-effector follows a prescribed geometric path given in a task space, illustrate the trajectory performance of the proposed control scheme.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 3, 31 March 2006, Pages 234–243
Journal: Robotics and Autonomous Systems - Volume 54, Issue 3, 31 March 2006, Pages 234–243
نویسندگان
Mirosław Galicki,