Stabilizing manipulator motion along a given surface

Stabilizing manipulator motion along a given surface

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Article ID: iaor20114130
Volume: 72
Issue: 4
Start Page Number: 740
End Page Number: 753
Publication Date: Apr 2011
Journal: Automation and Remote Control
Authors:
Keywords: robotics, optimal control
Abstract:

We consider mechanical systems like a manipulating robot, an excavator, and other similar devices. Known solutions for the general problem of manipulator motion stability have been obtained under rather strong assumptions. A special but important case of the stability problem under natural assumptions is solved in this work. We have constructed a control law that stabilizes the motions of a system lying inside a given surface. One example of such surface might be the surface along which a welding seam goes in the problem of automated welding with a manipulator.

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