Title :
Control of redundant manipulators using logic-based switching
Author :
Bishop, Bradley E. ; Spong, Mark W.
Author_Institution :
US Naval Acad., Annapolis, MD, USA
Abstract :
We study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the effectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manipulators. We present a simulation study of logic-based switching control of a 3-DOF planar manipulator under end-effector trajectory tracking and demonstrate the capabilities of this scheme
Keywords :
digital control; formal logic; position control; redundant manipulators; stability; tracking; logic-based switching; planar robot; redundant manipulators; stabilization; switched control; trajectory tracking; Control systems; Manipulator dynamics; Modeling; Motion control; Robot kinematics; Systems engineering and theory; Topology; Trajectory; Weapons;
Conference_Titel :
Decision and Control, 1998. Proceedings of the 37th IEEE Conference on
Conference_Location :
Tampa, FL
Print_ISBN :
0-7803-4394-8
DOI :
10.1109/CDC.1998.758498
