Task-space position and containment control of redundant manipulators with bounded inputs

Amir Zakerimanesh, Ali Torabi, Farzad Hashemzadeh, Mahdi Tavakoli

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1 Atıf (Scopus)

Özet

This note presents a novel approach for task-space tracking control of redundant manipulators with bounded actuation. Inspired by the leader-follower containment problem in multi-agent systems, the proposed controller is utilized to address the containment control of a single follower manipulator led by multiple manipulators. In the controller design, the redundancy of the robots is exploited for achieving sub-task control such as singularity avoidance, and joint limit avoidance. The asymptotic stability condition for the closed-loop dynamics is obtained using Lyapunov functional. For the containment, the proposed controller makes sure that the leaders track their desired positions and the follower robot's end-effector asymptotically converges to the convex hull formed by the leaders' traversed trajectories. The efficiency of the proposed control algorithm is verified through numerical simulations and experimental results.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığı2019 IEEE 15th International Conference on Automation Science and Engineering, CASE 2019
YayınlayanIEEE Computer Society
Sayfalar431-436
Sayfa sayısı6
ISBN (Elektronik)9781728103556
DOI'lar
Yayın durumuYayınlandı - Ağu 2019
Harici olarak yayınlandıEvet
Etkinlik15th IEEE International Conference on Automation Science and Engineering, CASE 2019 - Vancouver, Canada
Süre: 22 Ağu 201926 Ağu 2019

Yayın serisi

AdıIEEE International Conference on Automation Science and Engineering
Hacim2019-August
ISSN (Basılı)2161-8070
ISSN (Elektronik)2161-8089

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???event.eventtypes.event.conference???15th IEEE International Conference on Automation Science and Engineering, CASE 2019
Ülke/BölgeCanada
ŞehirVancouver
Periyot22/08/1926/08/19

Bibliyografik not

Publisher Copyright:
© 2019 IEEE.

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