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Dual Arm Robot Controlbased on Navigation Function withPrescribed Performance Guarantees
KTH, School of Computer Science and Communication (CSC).
2013 (English)Independent thesis Basic level (degree of Bachelor), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

In this thesis, a controller based on the navigation function and prescribed

performance control concepts for controlling the absolute and the relative

position of the end-e

ffectors of a dual arm manipulator is proposed. The


ffectors of the dual arm manipulator are considered as sphere agents

being assigned with a desired position (absolute position) and a desired

formation vector (relative position). The objective is to guarantee convergence

of the end-e

ffectors to the desired position as well as the evolution of

the end-e

ffectors’ formation error within prescribed transient bounds. The

main contribution is the combination of conventional navigation functions

that enable the system to satisfy position based constraints, such as collision

avoidance, with the prescribed performance control methodology that

imposes, time-dependent constraints for the relative position of the ende


The controller is designed in order to guarantee coherence of the

two concepts and achieve the two-fold objective. Simulation and experimental

results illustrate the e

ffectiveness of the proposed scheme.

Place, publisher, year, edition, pages
Trita-CSC-E, ISSN 1653-5715 ; 13:115
National Category
Computer Science
URN: urn:nbn:se:kth:diva-138030OAI: diva2:680250
Educational program
Master of Science in Engineering - Computer Science and Technology
Available from: 2013-12-17 Created: 2013-12-17 Last updated: 2013-12-17Bibliographically approved

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