Title :
Robot motions in a dynamic environment
Author :
Galicki, Miroslaw
Author_Institution :
Inst. of Organ. & Manage., Univ. of Zielona Gora, Poland
Abstract :
The problem of controlling redundant manipulators in dynamic environments including the moving obstacles, is considered. The task of the robot is to track by the end-effector a prescribed geometric path given in the work space. The control constraints resulting from the physical abilities of robot actuators are taken into account during the robot movement. The Lyapunov stability theory is used to derive the control scheme. The numerical simulation results carried out for a planar manipulator whose end-effector tracks a prescribed geometric path given in both an obstacle-free work space and a work space including the moving obstacles, illustrate the trajectory performance of the proposed control scheme
Keywords :
Lyapunov methods; collision avoidance; manipulator dynamics; motion control; redundant manipulators; stability; tracking; Lyapunov method; collision avoidance; manipulator dynamics; motion control; planar manipulator; redundant manipulators; stability; trajectory tracking; Actuators; Environmental management; Jacobian matrices; Kinematics; Lyapunov method; Manipulator dynamics; Medical robotics; Orbital robotics; Robot control; Robot motion;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973451