IEEE - Institute of Electrical and Electronics Engineers, Inc. - Continuous kinematic control with terminal attractors for handling task transitions of redundant robots

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Gerardo Jarquin ; Gustavo Arechavaleta ; Vicente Parra-Vega
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 1,976 - 1,981
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630840
Regular:

This paper proposes a general scheme based on terminal attractors to parametrize operational tasks with respect to time in continuous kinematic controllers. Commonly, a pseudo-inverse operator is... View More

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