A Hybrid Control Approach to Task Priority Based Mobile Manipulation
Paper i proceeding, 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.

Författare

Johan Markdahl

Kungliga Tekniska Högskolan (KTH)

Xiaoming Hu

Kungliga Tekniska Högskolan (KTH)

D. Kragic

Kungliga Tekniska Högskolan (KTH)

Yiannis Karayiannidis

Signaler och system, System- och reglerteknik, Mekatronik

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

0743-1546 (ISSN)

Vol. Volume 2016-February 801-806

Ämneskategorier

Robotteknik och automation

Reglerteknik

DOI

10.1109/CDC.2015.7402328

ISBN

978-1-4799-7886-1