Title :
Nonlinear control of robot spatial motion in dynamic environments
Author :
Miroshnik, I.V. ; Huang, Xian-lin
Author_Institution :
Lab. of Cybern. & Control Syst., State Inst. of Fine Mech. & Opt., St. Petersburg, Russia
Abstract :
The paper concerns trajectory problems for stationary, platform-mounted or mobile robots interacting with moving external objects. The main contribution consists of a new task oriented model of spatial motion in a mobile environment and appropriate nonlinear control laws based on geometric methodologies of nonlinear theory and MIMO system coordination, being an extension of the results on robot spatial motion techniques and active robotic strategies.
Keywords :
MIMO systems; control system synthesis; mobile robots; motion control; nonlinear control systems; path planning; MIMO system coordination; dynamic environments; geometric methodologies; mobile robots; moving external plants; nonlinear control; robot spatial motion; stationary platform-mounted robots; task oriented model; trajectory problems; Control systems; MIMO; Mobile robots; Motion control; Nonlinear control systems; Orbital robotics; Robot control; Robot kinematics; Solid modeling; Transmission line matrix methods;
Conference_Titel :
Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on
Print_ISBN :
0-7803-7508-4
DOI :
10.1109/ICMLC.2002.1176731
