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Conference Paper: Hybrid system design for singularityless task level robot controllers

TitleHybrid system design for singularityless task level robot controllers
Authors
Issue Date2000
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2000, v. 3, p. 3007-3012 How to Cite?
AbstractThis paper presents a hybrid system approach in the design of a singularityless task level controller. To achieve a singularityless motion control in the neighborhood of singularity, the hybrid system approach is used to integrate the task level controller and joint level controller. First, a hybrid system model is developed for the singularityless task level controller. A Max-Plus dynamic model is used to integrate the discrete switching control and continuous motion control in the controller. Based on this model, a smooth trajectory and control command for the hybrid system can be obtained. The Lyapunov theory was used to prove the stability of the singularityless controller. The new singularityless task level controller has been experimentally implemented and tested on a PUMA 560 robot manipulator. Experimental results have been employed to verify the theoretical conclusions, thus clearly demonstrating the advantages of the new task level control method.
Persistent Identifierhttp://hdl.handle.net/10722/212713
ISSN

 

DC FieldValueLanguage
dc.contributor.authorTan, Jindong-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:46Z-
dc.date.available2015-07-28T04:04:46Z-
dc.date.issued2000-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2000, v. 3, p. 3007-3012-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212713-
dc.description.abstractThis paper presents a hybrid system approach in the design of a singularityless task level controller. To achieve a singularityless motion control in the neighborhood of singularity, the hybrid system approach is used to integrate the task level controller and joint level controller. First, a hybrid system model is developed for the singularityless task level controller. A Max-Plus dynamic model is used to integrate the discrete switching control and continuous motion control in the controller. Based on this model, a smooth trajectory and control command for the hybrid system can be obtained. The Lyapunov theory was used to prove the stability of the singularityless controller. The new singularityless task level controller has been experimentally implemented and tested on a PUMA 560 robot manipulator. Experimental results have been employed to verify the theoretical conclusions, thus clearly demonstrating the advantages of the new task level control method.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.titleHybrid system design for singularityless task level robot controllers-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0033707008-
dc.identifier.volume3-
dc.identifier.spage3007-
dc.identifier.epage3012-

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