Control of Redundant Manipulators Using Logic { Based Switching 1
نویسندگان
چکیده
In this paper we study the control of redundant planar robotic manipulators using a switched (or hybrid) control scheme, focusing on manipulators with a degree of redundancy of one. We emphasize the eeectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manip-ulators. We present a simulation study of logic{based switching control of a 3 DOF planar manipulator under end{eeector trajectory tracking and demonstrate the capabilities of this scheme.
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تاریخ انتشار 1998