A singularity-free motion control algorithm for robot manipulators -- a hybrid system approach

DOI10.1016/j.automatica.2004.02.013zbMath1056.93567MaRDI QIDQ1883133

Jindong Tan, Ning Xi, YueChao Wang

Publication date: 1 October 2004

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.automatica.2004.02.013

zbMATH Keywords

Hybrid systems; Singularity; Switching control; Tracking control; Robotic manipulators

Mathematics Subject Classification ID

93C85: Automated systems (robots, etc.) in control theory

93B12: Variable structure systems

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Cites Work

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• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach
• Multiple Lyapunov functions and other analysis tools for switched and hybrid systems