A Hamiltonian framework for kinodynamic planning and control

Author

Connolly, Christopher I. ; Souccar, Kamal ; Grupen, Roderic A.

Author_Institution

Dept. of Brain & Congnitive Sci., MIT, Cambridge, MA, USA

Volume

3

fYear

1995

fDate

21-27 May 1995

Firstpage

2746

Abstract

Control based on artificial potentials results in, bounded-torque controllers. The authors extend this notion by devising energy-reference controllers that use harmonic potentials to produce collision-free kinodynamic behavior. In addition, the phase space structure of a manipulator controlled by an artificial potential “copies” the critical point structure of that potential. This result is used in conjunction with harmonic potentials to generate and control convergent and repetitive motions for a manipulator

Keywords

manipulator dynamics; manipulator kinematics; path planning; Hamiltonian framework; artificial potentials; collision-free kinodynamic behavior; convergent motions; critical point structure; energy-reference controllers; harmonic potentials; kinodynamic control; kinodynamic planning; manipulator; phase space structure; repetitive motions; Cognitive robotics; Computer networks; Computer science; Laboratories; Motion control; Orbital robotics; Orbits; Path planning; Robotics and automation; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525672

Filename

525672