A hybrid control approach to task priority based mobile manipulation
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 801-806 p.Conference paper (Refereed)Text
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
IEEE conference proceedings, 2016. 801-806 p.
IdentifiersURN: urn:nbn:se:kth:diva-188280DOI: 10.1109/CDC.2015.7402328ScopusID: 2-s2.0-84961999231ISBN: 9781479978861OAI: oai:DiVA.org:kth-188280DiVA: diva2:936795
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
QC 201606142016-06-142016-06-092016-06-14Bibliographically approved