A Hybrid Control Approach to Task Priority Based Mobile Manipulation
Paper in proceedings, 2015

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.

Author

Johan Markdahl

Royal Institute of Technology (KTH)

Xiaoming Hu

Royal Institute of Technology (KTH)

D. Kragic

Royal Institute of Technology (KTH)

Yiannis Karayiannidis

Chalmers, Signals and Systems, Systems and control, Mechatronics

54th IEEE Conference on Decision and Control (CDC), Osaka, Japan. Dec 15-18, 2015

0743-1546 (ISSN)

Vol. Volume 2016-February 7402328 801-806

Subject Categories

Robotics

Control Engineering

DOI

10.1109/CDC.2015.7402328

ISBN

978-1-4799-7886-1

More information

Latest update

2/26/2018