Path-constrained control of a redundant manipulator in a task space |
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Affiliation: | 1. College of Computer and Control Engineering, Nankai University, Tianjin 300071, China;2. Tianjin Key Laboratory of Intelligent Robotics, Nankai University, Tianjin, 300071, China;3. College of Science, Civil Aviation University of China, Tianjin 300300, China |
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Abstract: | This study addresses the problem of controlling a redundant manipulator with both state and control dependent constraints. The task of the robot is to follow by the end-effector a prescribed geometric path given in the task space. The control constraints resulting from the physical abilities of robot actuators are also taken into account during the robot movement. Provided that a solution to the aforementioned robot task exists, the Lyapunov stability theory is used to derive the control scheme. The numerical simulation results, carried out for a planar manipulator whose end-effector follows a prescribed geometric path given in a task space, illustrate the trajectory performance of the proposed control scheme. |
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