Title :
Region Tracking Control for Robot Manipulators
Author :
Hou, S.P. ; Cheah, C.C.
Author_Institution :
Nanyang Technol. Univ., Singapore
Abstract :
Research of robotics aims to realize some aspects of human functions into a mechanical system. It is interesting to observe from most human reaching movements that the desired targets are regions rather than points. In this paper, a region tracking controller is proposed for robot manipulator. In the proposed controller, the desired objective of the robot end effector can be specified as a moving region. Lyapunov-like function is presented for the convergence analysis. Simulation results are presented to verify the theory.
Keywords :
Lyapunov methods; end effectors; position control; Lyapunov-like function; human functions; mechanical system; region tracking control; robot end effector; robot manipulators; Adaptive control; Control systems; Equations; Manipulators; Orbital robotics; Programmable control; Robot control; Robot kinematics; Target tracking; Uncertainty;
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
DOI :
10.1109/CCA.2007.4389438
