Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
412315 | Robotics and Autonomous Systems | 2006 | 10 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Computer Science
Artificial Intelligence
Authors
Mirosław Galicki,