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
fDate :
6/1/1998 12:00:00 AM
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;
Journal_Title :
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
DOI :
10.1109/3477.678643
