A Hybrid Control Approach to Task-Priority Based Mobile Manipulation
2015 (English)Conference paper (Refereed)
This paper proposes a hybrid control approach to task priority based mobile manipulation. More specifically, it uses a hybrid systems framework to address the problem of end-effector path following for a manipulator attached to a nonholonomic mobile platform where the joints are subject to constraints and the inputs signals are required to be bounded. A switched control strategy allows the robot to avoid infeasible and singular joint configurations while executing a bounded pseudo-inverse based feedback control law. The resulting closed loop system stabilizes the desired path, has a dwell time in each mode, and only switches a finite number of times.
Place, publisher, year, edition, pages
IdentifiersURN: urn:nbn:se:kth:diva-175425OAI: oai:DiVA.org:kth-175425DiVA: diva2:860923
54th IEEE Conference on Decision and Control
QC 201510152015-10-142015-10-142015-10-15Bibliographically approved