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A hybrid control approach to task priority based mobile manipulation
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2016 (English)In: Proceedings of the IEEE Conference on Decision and Control, IEEE conference proceedings, 2016, 801-806 p.Conference paper (Refereed)Text
Abstract [en]

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.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-188280DOI: 10.1109/CDC.2015.7402328ScopusID: 2-s2.0-84961999231ISBN: 9781479978861OAI: oai:DiVA.org:kth-188280DiVA: diva2:936795
Conference
54th IEEE Conference on Decision and Control, CDC 2015, 15 December 2015 through 18 December 2015
Note

QC 20160614

Available from: 2016-06-14 Created: 2016-06-09 Last updated: 2016-06-14Bibliographically approved

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ReferencesLink to record
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