Title :
Supervisory switching control in robotic manipulation
Author :
Prattichizzo, Domenico ; Borrelli, Donato
Author_Institution :
Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy
Abstract :
A switching controller for a class of robotic manipulators with grasping capabilities is presented. The aim is to control the motion of the grasped object along a desired trajectory while complying with contact force constraints
Keywords :
Jacobian matrices; MIMO systems; asymptotic stability; force control; manipulator dynamics; motion control; nonlinear dynamical systems; contact force constraints; grasped object; robotic manipulation; supervisory switching control; Adaptive control; Aerospace electronics; Control system synthesis; Control systems; Force control; Motion control; Robot control; Service robots; Switches; Trajectory;
Conference_Titel :
Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
Conference_Location :
Phoenix, AZ
Print_ISBN :
0-7803-5250-5
DOI :
10.1109/CDC.1999.831386
