• DocumentCode
    1815413
  • Title

    Supervisory switching control in robotic manipulation

  • Author

    Prattichizzo, Domenico ; Borrelli, Donato

  • Author_Institution
    Dipt. di Ingegneria dell´´Inf., Siena Univ., Italy
  • Volume
    3
  • fYear
    1999
  • fDate
    1999
  • Firstpage
    2957
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1999. Proceedings of the 38th IEEE Conference on
  • Conference_Location
    Phoenix, AZ
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-5250-5
  • Type

    conf

  • DOI
    10.1109/CDC.1999.831386
  • Filename
    831386
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1815413