Cart (Loading....) | Create Account
Close category search window
 

Stability Analysis for Prioritized Closed-Loop Inverse Kinematic Algorithms for Redundant Robotic Systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Antonelli, G. ; Dipt. di Autom., Elettromagnetismo, Ing. dell''Inf. e Mat. Ind., Univ. degli Studi di Cassino, Cassino, Italy

Stability analysis of priority-based kinematic control algorithms for redundant robotic systems is approached in this paper. Starting from the classical applications in position control of manipulators, the kinematic-based approaches have lately been applied to, e.g., visual servoing and quadruped or multirobot coordination control. A common approach consists in the definition of several tasks properly combined in priority. In this paper, by resorting to a Lyapunov-based stability discussion for several prioritized inverse kinematics algorithms, sufficient conditions for the control gains and the tasks' design are given for the regulation problem. Two case studies show the practical implementation of the results.

Published in:

Robotics, IEEE Transactions on  (Volume:25 ,  Issue: 5 )

Date of Publication:

Oct. 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.