Abstract
This work examines the contour tracking problem of redundant robot on a path with singularity. Using an optimal quadratic programming method is to solve the singularity problem and the computing load of motion planning is reduced by a novel hybrid motion planning method. To achieve contour tracking with output feedback, an integral sliding mode control with a high-gain observer is employed to eliminate the chattering due to discontinuous switching control of the sliding-mode control and maintain robustness of the ideal sliding mode.
| Original language | English |
|---|---|
| Pages (from-to) | 241-270 |
| Number of pages | 30 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| Volume | 62 |
| Issue number | 2 |
| DOIs | |
| State | Published - May 2011 |
Bibliographical note
Funding Information:Acknowledgements The author would like to thank the National Science Council of the Republic China for the support of this work under the Grant No. NSC92-2212-E-212-020. Ted Knoy is appreciated for his editorial assistance.
Keywords
- Contour tracking
- Motion planning
- Redundant robot
- Singularity problem
- Sliding-mode control
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