Title :
Trajectory generation using time scaled artificial potential field
Author :
Tanaka, Yoshiyuki ; Tsuji, Toshio ; Kaneko, Makoto ; Morasso, Pietro G.
Author_Institution :
Ind. & Syst. Eng., Hiroshima Univ., Japan
Abstract :
A trajectory generation method for the dynamic control of robots is proposed. The method is developed by introducing the combination of a time scale transformation with a time base generator into the artificial potential field approach. This method can actively control the dynamic behavior of the robot without any change of the form of the designed controller itself. Effectiveness of the proposed method is verified through computer simulations with an omnidirectional mobile robot
Keywords :
asymptotic stability; control system synthesis; digital simulation; feedback; mobile robots; robot dynamics; dynamic behavior; dynamic control; omnidirectional mobile robot; time scaled artificial potential field; trajectory generation method; Computer simulation; Control systems; Informatics; Kinematics; Manipulator dynamics; Mobile robots; Robot control; Systems engineering and theory; Vectors; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724623
