DocumentCode
2464025
Title
Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces
Author
Masoud, Ahmad A.
Author_Institution
Dept. of Electr. Eng., KFUPM, Dhaharan
fYear
2006
fDate
13-15 Dec. 2006
Firstpage
6167
Lastpage
6172
Abstract
In this paper, the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper
Keywords
nonlinear control systems; path planning; robot dynamics; anisotropic dampening force; harmonic potential field; holonomic robot; kinodynamic trajectory; motion planning; nonlinear force; Anisotropic magnetoresistance; Force control; Kinematics; Mechanical systems; Motion control; Robots; Signal generators; Sliding mode control; Trajectory; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2006 45th IEEE Conference on
Conference_Location
San Diego, CA
Print_ISBN
1-4244-0171-2
Type
conf
DOI
10.1109/CDC.2006.376964
Filename
4177037
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