Title :
Applications of harmonic functions to robotics
Author :
Connolly, Christopher I.
Author_Institution :
Dept. of Comput. & Inf. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
Motivation for using harmonic functions as solutions to Laplace´s equation arose from the resulting prevention of spurious local minima. Harmonic functions are shown to have several more useful properties that make them well suited for robotics applications such as fast surface normal computation, completeness, ability to exhibit different modes of behavior, and robust control in the presence of unanticipated obstacles and errors. A system that demonstrates this usefulness for control of a revolute robot arm is discussed
Keywords :
functional analysis; harmonic analysis; path planning; position control; robots; Laplace´s equation; harmonic functions; local minima; path planning; position control; robotics; Application software; Boundary conditions; Computer vision; Grid computing; Laplace equations; Path planning; Robots; Solid modeling;
Conference_Titel :
Intelligent Control, 1992., Proceedings of the 1992 IEEE International Symposium on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-0546-9
DOI :
10.1109/ISIC.1992.225141
