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Constraint task-space control of redundant manipulators

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Warianty tytułu
Języki publikacji
EN
Abstrakty
EN
This paper addresses the problem of position control of redundant manipulators operating in the constraint task space, i.e. including the obstacles. A computationally simple class of task space regulators consisting of a transpose Jacobian controller plus an integral term including the task error and plus the gradient of a penalty function generated by obstacles, is proposed. The Lyapunov stability theory is used to derive the control scheme. Through the use of the exterior penalty function approach, collision avoidance of the robot with obstacles, is ensured. The performance of the proposed control strategy is illustrated through computer simulations for a planar redundant manipulator of three revolute kinematic pairs operating both in a two-dimensional obstacle-free task space and a task space including obstacles.
Rocznik
Strony
703--714
Opis fizyczny
Bibliogr. 30 poz., wykr.
Twórcy
autor
  • Faculty of Mechanical Engineering, University of Zielona Góra ul. Prof. Z. Szafrana 4, 65-516, Zielona Góra, POLAND, M.Galicki@ibem.uz.zgora.pl
Bibliografia
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Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BPZ2-0041-0025
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