Solid mechanics-inspired sensor-based motion planner

Charifa, Samer; Masoud, Ahmad A.

doi:10.1109/cca.2005.1507128

Cited by 2 publications

(1 citation statement)

References 10 publications

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“…To compensate for the unknown workspace, Nemec and Zlajpah allowed the manipulator to bump into the obstacle while ensuring that the resulting forces are minimized to prevent damage to the manipulator and the obstacle. Charifa and Masoud [19] described a potential-field based motion planner for a mobile robot in a complex, static unknown environment using information acquired from finite range sensors. The aforementioned papers were susceptible to the local minima problem inherent in potential-field approaches as well as potentially damaging contact between the manipulator joints and the obstacles, issues that are still open research problems.…”

Section: Introductionmentioning

confidence: 99%

Set-point navigation of a redundant robot in uncertain environments using finite range sensors

Kapadia

Tatlıcıoğlu

Dawson

2008

2008 47th IEEE Conference on Decision and Control

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Abstract:In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.

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Section: Introductionmentioning

confidence: 99%