Title :
Single Step Optimization of Feedback-Decoupled Collision Avoidance Manipulator Maneuvers
Author :
Chen, Ning ; Dwyer, T. A W, III ; Fadali, M.S.
Author_Institution :
Department of Aeronautical and Astronautical Engineering, University of Illinois, Urbana, IL 61801
Abstract :
Simultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.
Keywords :
Acceleration; Actuators; Aerodynamics; Collision avoidance; Force control; Manipulators; Path planning; Robot control; Robot kinematics; Torque control;
Conference_Titel :
American Control Conference, 1986
Conference_Location :
Seattle, WA, USA
