Control of redundant manipulators using logic-based switching

被引：0
|
作者：
Bishop, Bradley E. [1 ]
Spong, Mark W. [1 ]
机构：
[1] United States Naval Acad, Annapolis, United States
来源：
Proceedings of the IEEE Conference on Decision and Control | 1998年 / 2卷
关键词：
Logic-based switching - Redundant manipulators;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the effectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manipulators. We present a simulation study of logic-based switching control of a 3 DOF planar manipulator under end-effector trajectory tracking and demonstrate the capabilities of this scheme.
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页码：1488 / 1493
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