NDLI: Stabilizing hybrid switched motion control systems with an on-line trajectory generator

Content Provider	IEEE Xplore Digital Library
Author	Kröger, T. Wahl, F.M.
Copyright Year	2010
Description	Author affiliation: Institut für Robotik und Prozessinformatik at the Technische Universität Carolo-Wilhelmina zu Braunschweig, Mühlenpfordtstraße 23, D-38106, Germany (Kröger, T.; Wahl, F.M.)
Abstract	This paper suggests the idea of a universal method for stabilizing discrete-time hybrid switched-control systems of robot manipulators. The core of this idea is based on an on-line trajectory generation algorithm that is able to generate continuous command variables from any arbitrary state of motion. We define a measurable criterion to on-line detect an instability or a potential instability of the plant, and right after this criterion is fulfilled, we switch to the on-line trajectory generator that acts as an open-loop pose control submodule in the switched-system. The on-line trajectory generation algorithm guides the system under consideration of kinematic motion constraints to a desired target state of motion that can be specified beforehand (e.g., zero-velocity in a pre-defined position). Systems with one and more degrees of freedom are regarded in this paper; finally, real-world experimental results achieved with a six-joint industrial manipulator are presented in order to demonstrate the potential and the high practical relevance of this concept.
Starting Page	4009
Ending Page	4015
File Size	1605142
Page Count	7
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509428
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Hybrid power systems Control systems Switches Open loop systems Sensor systems Stability Velocity control Robotics and automation Electrical equipment industry
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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