Title :
Joint-space tracking of workspace trajectories in continuous time
Author :
Getz, Neil H. ; Marsden, Jerrold E.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
We present a controller for a class of robotics manipulators which provides exponential convergence to a desired end-effector trajectory using gains specified in joint-space. This is accomplished without using discrete inverse-kinematics algorithms, and it allows the controller to be posed entirely in continuous time
Keywords :
continuous time systems; convergence of numerical methods; manipulator dynamics; manipulator kinematics; tracking; continuous time systems; discrete inverse-kinematics; exponential convergence; joint-space; joint-space tracking; robotics manipulators; workspace trajectories; Control systems; Convergence; Equations; Inverters; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Torque control; Trajectory;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480218
