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
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;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376964
