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Joint-space tracking of workspace trajectories in continuous time

Getz, Neil H. and Marsden, Jerrold E. (1995) Joint-space tracking of workspace trajectories in continuous time. In: Proceedings of the 34th Conference on Decision & Control, New Orleans, LA, 13-15 December 1995. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 1001-1006. ISBN 0780326857 http://resolver.caltech.edu/CaltechAUTHORS:GETieeecdc95b

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Abstract

We present a controller for a class of robotics manipulators which provides exponential convergence to a desired end-effector trajectory using gains specified in joint-space. This is accomplished without appeal to the use of discrete inverse-kinematics algorithms, allowing the controller to be posed entirely in continuous time.


Item Type:Book Section
Additional Information:© 1995 IEEE. Reprinted with Permission. The authors are grateful to C.A. Desoer for his comments and advice.
Subject Keywords:continuous time systems; convergence of numerical methods; manipulator dynamics; manipulator kinematics; tracking; continuous time systems; discrete inverse-kinematics; exponential convergence; joint-space; joint-space tracking; robotics manipulators; workspace trajectories
Record Number:CaltechAUTHORS:GETieeecdc95b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:GETieeecdc95b
Alternative URL:http://dx.doi.org/10.1109/CDC.1995.480218
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:9602
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:13 Feb 2008
Last Modified:26 Dec 2012 09:50

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