Title :
Harmonic control [robot applications]
Author :
Connolly, Christopher I. ; Grupen, Roderic A.
Author_Institution :
Dept. of Comput. Sci., Massachusetts Univ., Amherst, MA, USA
Abstract :
Harmonic functions are used in conjunction with velocity-based control to implement a robot system that is flexible in coping with errors in the environment model and in robot positions. Harmonic functions provide a method for implementing potential-field path planning. Since they produce smooth vector fields that are free of spurious local minima, they also provide an ideal mechanism for implementing velocity-based control. The resulting control system is termed harmonic control. The strategy described provides a robust means of controlling a manipulator in the presence of external forces. A system that simulates velocity control of a two-link revolute robot arm is presented
Keywords :
harmonic analysis; path planning; position control; robots; velocity control; harmonic control; harmonic functions; manipulator; potential-field path planning; robot; two-link revolute robot arm; velocity-based control; Application software; Boundary conditions; Error correction; Friction; Grid computing; Laboratories; Path planning; Robot control; Steady-state; Velocity control;
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.1992.225142
