A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach

DOI10.1016/j.automatica.2004.02.013zbMath1056.93567OpenAlexW2070875401MaRDI QIDQ1883133

Jindong Tan, Ning Xi, YueChao Wang

Publication date: 1 October 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2004.02.013

zbMATH Keywords

Hybrid systemsSingularitySwitching controlTracking controlRobotic manipulators

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12)

Related Items

Robust \(H_\infty\) control of discrete switched system with time delay ⋮ Observer-Based Reliable Control for Discrete-Time Switched Linear Systems with Faulty Actuators ⋮ A novel stability analysis of uncertain switched systems with time-varying delays ⋮ Estimation of reachable set for switched singular systems with time-varying delay and state jump ⋮ A fault-tolerant level damping algorithm for marine INS ⋮ Dynamic coupling switching control incorporating support vector machines for wheeled mobile manipulators with hybrid joints ⋮ Modal exact linearization of a class of second-order switched nonlinear systems ⋮ Stability analysis of switched stochastic delay system with unstable subsystems ⋮ Continuous dynamic gain scheduling control for input-saturated switched systems

Cites Work

• Unnamed Item
• Unnamed Item
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach
• Multiple Lyapunov functions and other analysis tools for switched and hybrid systems