A switching controller for a class of robotic manipulators with grasping capabilities is presented. The aim is to control the motion of the grasped object along a desired trajectory while complying with contact force constraints. The algorithm successfully performs its control task by switching between several controllers induced by diﬀerent operating conditions of the manipulator–object system. Simulation results are presented to show the eﬃcacy of the proposed method.
|Titolo:||Supervisory Switching Strategy in Motion/Force Control of Robotic Manipulation.|
|Appare nelle tipologie:||1.1 Articolo in rivista|