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. https://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 | ||||||
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| 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 | ||||||
| DOI: | 10.1109/CDC.1995.480218 | ||||||
| Record Number: | CaltechAUTHORS:GETieeecdc95b | ||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:GETieeecdc95b | ||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | ||||||
| ID Code: | 9602 | ||||||
| Collection: | CaltechAUTHORS | ||||||
| Deposited By: | INVALID USER | ||||||
| Deposited On: | 13 Feb 2008 | ||||||
| Last Modified: | 08 Nov 2021 21:00 |
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