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. 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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