Stiff and safe task-space position and attitude controller for robotic manipulators

Stiff and safe task-space position and attitude controller for robotic manipulators

Abstract This paper proposes a stiff and safe task-space position and attitude control scheme for robotic manipulators. This study extends the work of Kikuuwe et al’s. (2006) velocity-bounding proxy-based sliding mode control by explicitly addressing the attitude part. The proposed controller has a...

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Bibliographic Details
Main Authors: Gyuho Byun, Ryo Kikuuwe
Format: Article
Language:English
Published: SpringerOpen 2020-03-01
Series:ROBOMECH Journal
Subjects:
Human–robot interaction
Safety regulation
Multi-dimensional task space
Quaternion representation
Attitude control
Proportional-integral-derivative (PID) position control
Online Access:http://link.springer.com/article/10.1186/s40648-020-00166-1

Internet

http://link.springer.com/article/10.1186/s40648-020-00166-1

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