Motion planning and dynamic control of a linked manipulator using modified magnetic fields

Author

Singh, Leena ; Wen, John ; Stephanou, Harry

Author_Institution

Center for Adv. Technol. in Robotics, Autom. & Manuf., Rensselaer Polytech. Inst., Troy, NY, USA

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1142

Abstract

A modified magnetic field (MMF) has been used for the generation of robot motion plans of a linked manipulator such as a robot arm, in a complex workspace while veering around enclosing obstacle walls. The MMF method ensures global convergence and collision constraint satisfaction while allowing the application of this method as an online plan generation and control technique in both Cartesian and configuration spaces. Methods for using the MMF to perform both the planning and dynamic control of a robot arm around obstacles and singular configurations are developed in this paper and results shown for a specific workspace configuration

Keywords

convergence of numerical methods; feedback; magnetic fields; manipulator dynamics; path planning; real-time systems; Cartesian space; collision avoidance; configuration space; dynamic control; feedback; global convergence; linked manipulator; modified magnetic field; motion planning; online plan generation; robot arm; singular configurations; workspace configuration; Convergence; Feedback; Magnetic fields; Manipulator dynamics; Motion control; Motion planning; Orbital robotics; Path planning; Robot motion; Robotics and automation;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614291

Filename

614291