DocumentCode
294898
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
Volume
2
fYear
1995
fDate
13-15 Dec 1995
Firstpage
1001
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.480218
Filename
480218
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