A Controller for the Trajectory Tracking of Robotic Planar Cutting Tasks

In this paper a trajectory tracking controller is designed for planar robotic cutting tasks. Based on a global model for the knife edge motion control problem the designed control input is shown to achieve convergence of the direction vector to the position error direction in finite time which then ensures the convergence of the position and direction tracking errors to zero as shown using Lyapunov arguments. The controller drives the system on the desired path reducing the distance traveled outside of it. The proposed approach is validated through simulations and compared to an existing method in the literature. Experimental results in a robotic cutting task further validate and demonstrate its performance.