DocumentCode
1383811
Title
Artificial potential method for control of constrained robot motion
Author
Dounskaia, Natalia V.
Author_Institution
Inst. of Control Sci., Acad. of Sci., Moscow, Russia
Volume
28
Issue
3
fYear
1998
fDate
6/1/1998 12:00:00 AM
Firstpage
447
Lastpage
453
Abstract
The artificial potential method of constrained robot control is presented. The method does not imply knowledge of a detailed robot model and, nevertheless, makes it possible to drive a robot in the environment with obstacles of any shape and along a desired trajectory as well as to take into account constructive constraints. The method is based on the construction of an artificial potential that provides the absence of intermediate equilibriums in which the robot can be locked
Keywords
manipulator dynamics; motion control; position control; artificial potential method; constrained robot motion control; trajectory; Control system synthesis; Control systems; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Orbital robotics; Robot control; Robot motion; Shape; Sliding mode control;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.678643
Filename
678643
Link To Document