Control of redundant manipulators using logic-based switching

Abstract

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.