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

Automatica

Volumn 40, Issue 7, 2004, Pages 1239-1245

  Tan, Jindong ^a   Xi, Ning ^b,c   Wang, Yuechao ^c  

^a Michigan Technological University   (United States)

^b Michigan State University   (United States)

^c SHENYANG INSTITUTE OF AUTOMATION   (China)

Author keywords

Hybrid systems; Robotic manipulators; Singularity; Switching control; Tracking control

Indexed keywords

COMPUTATIONAL METHODS; CONTROL SYSTEM ANALYSIS; ERROR ANALYSIS; LYAPUNOV METHODS; PROBLEM SOLVING; ROBOTICS; SWITCHING;

HYBRID SYSTEMS; ROBOTIC MANIPULATORS; SWITCHING CONTROL; TRACKING CONTROL;

MOTION CONTROL;

EID: 2442428133     PISSN: 00051098     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.automatica.2004.02.013     Document Type: Article

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