A globally stabilizing hybrid control algorithm for mobile manipulation subject to joint-space constraints
2014 (English)In: Proceedings - IEEE International Conference on Robotics and Automation, IEEE conference proceedings, 2014, 5152-5157 p.Conference paper (Refereed)
This paper proposes a hybrid control algorithm for mobile manipulation subject to joint-space constraints. More specifically, we consider the problem of making the end-effector of a planar manipulator attached to a nonholonomic mobile platform reach a set-point or equivalently follow a given path in workspace by means of kinematic actuation. A switched control strategy allows the robot to avoid singular joint configurations and execute a pseudo-inverse based feedback using bounded and continuous control signals. The switching scheme is also utilized to maintain feasible joint configurations. Numerical examples provide an intuitive understanding of the algorithm's workings.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2014. 5152-5157 p.
IdentifiersURN: urn:nbn:se:kth:diva-176145DOI: 10.1109/ICRA.2014.6907615ScopusID: 2-s2.0-84929190566OAI: oai:DiVA.org:kth-176145DiVA: diva2:875074
2014 IEEE International Conference on Robotics and Automation, ICRA 2014, 31 May 2014 through 7 June 2014
QC 201511302015-11-302015-11-022015-11-30Bibliographically approved