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A Hybrid Control Approach to Task Priority Based Mobile Manipulation

Johan Markdahl ; Xiaoming Hu ; Danica Kragic ; Yiannis Karayiannidis (Institutionen för signaler och system, Mekatronik)
54th IEEE Conference on Decision and Control (CDC), Osaka, Japan. Dec 15-18, 2015 Vol. Volume 2016-February (2015), 7402328, p. 801-806.
[Konferensbidrag, refereegranskat]

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.

Denna post skapades 2016-01-21. Senast ändrad 2016-12-14.
CPL Pubid: 231088


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Institutioner (Chalmers)

Institutionen för signaler och system, Mekatronik (2005-2017)


Robotteknik och automation

Chalmers infrastruktur