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.
Prattichizzo, D., D., B., F., B. (2002). Supervisory Switching Strategy in Motion/Force Control of Robotic Manipulation. DYNAMICS OF CONTINUOUS, DISCRETE AND IMPULSIVE SYSTEMS. SERIES B: APPLICATIONS & ALGORITHMS, 9(4), 587-601.
Supervisory Switching Strategy in Motion/Force Control of Robotic Manipulation.
PRATTICHIZZO, DOMENICO;
2002-01-01
Abstract
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.
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https://hdl.handle.net/11365/28778