## Real-time control of robot manipulators in the presence of obstacles |

### What people are saying - Write a review

We haven't found any reviews in the usual places.

### 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 boundary value problem calculated cartesian coordinate robot chapter closed loop system closed-loop collision avoidance collision is detected collision-free path control algorithm control effort CONTROL OF ROBOT control scheme control space control theory control vector Cornell University Decision Strategy ODS denote dependent control constraints desired control desired trajectory desired vector field developed displayed in figure dynamical equations ellipses end effector field of desired future collision hard control bounds high speeds initial integrated circuit minimum time solution motor multiple obstacles noise non-linear Obstacle Avoidance Strategy ODS/OAS algorithm optimal control problem Optimal Decision Strategy P-functional penalty function performance phase plane plant description plotted in figure position and velocity position space presence of obstacles problem formulation quadratic programming reference inputs robot manipulators robust second derivative solved stochastic OAS subarc switch three switching surfaces Taylor series Theorem torque tracking error trajectory tracking trol vertical direction workspace zero