Real-time Control of Robot Manipulators in the Presence of Obstacles |
Contents
TRAJECTORY CONTROL OF ROBOT MANIPULATORS | 7 |
TRAJECTORY CONTROL OF ROBOT MANIPULATORS | 33 |
CONCLUSION | 102 |
Copyright | |
Common terms and phrases
achieved actuator dynamics asymptotic stability calculated cartesian coordinate robot chapter circle circuit boards closed loop system closed-loop collision avoidance collision-free path configurations control algorithm control effort CONTROL OF ROBOT Control Set control space control theory control vector Cornell University denote dependent control constraints Desired control desired trajectory dynamical equations ellipses end effector field of desired future collision integrated circuit Kalman Filter minimum time solution motor multiple obstacles noise non-linear OAS algorithm OAS control Obstacle Avoidance Strategy ODS/OAS algorithm optimal control problem Optimal control solutions Optimal Decision Strategy optimal trajectory P-functional P(At penalty function performance phase plane plant description plotted in figure Pmax polygon position and velocity prediction presence of obstacles quadratic programming reference inputs robot manipulators robust SDCC second derivative solved Stochastic OAS subarc switch three switching surfaces Taylor series Theorem tracking error trajectory tracking trol u₁ V₁ workspace x₁ zero