A switching control scheme for constrained robot tasks Conference Paper

abstract

• The focus of this paper in on the design and real-time control implementation issues of a switching control scheme for a robot interacting with a constraint surface. One key aspect that is investigated is the effect of uncertainty in the location of the constraint surface. A switching controller that is robust to uncertainty in the location of the constraint surface is given for a typical constrained robot task. Further, a strategy for real-time trajectory modification, which is required to compensate for the discrepancy in the a-priori known location and the actual location of the constraint, is given. Details of the experimental platform and typical experimental results are given. This research can find applications in robotic surface finishing operations such as polishing, chamfering and deburring, etc.

name of conference

• Proceedings of the 2001 IEEE International Conference on Control Applications (CCA'01) (Cat. No.01CH37204)

authors

• Pagilla, Prabhakar

published proceedings

• PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01)

author list (cited authors)

• Yu, B., & Pagilla, P. R.

citation count

• 3

complete list of authors

• Yu, B||Pagilla, PR

publication date

• January 2001

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

keywords

• Constraints
• Experiments
• Impact
• Real-time Control
• Robot Control

Digital Object Identifier (DOI)

• 10.1109/CCA.2001.974019

International Standard Book Number (ISBN) 10

• 0-7803-6733-2

start page

• 1105

end page

• 1110

URL

• http://dx.doi.org/10.1109/cca.2001.974019