作者:
BE Bishop，MW Spong
关键词:
digital control ； formal logic ； position control ； redundant manipulators ； stability ； tracking ； logic-based switching ； planar robot ； redundant manipulators ； stabilization
摘要:
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 effectiveness of switched control systems with respect to stabilization and performance enhancement for this class of manipulators. We present a simulation study of logic-based switching control of a 3-DOF planar manipulator under end-effector trajectory tracking and demonstrate the capabilities of this scheme
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