DocumentCode
2105779
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
Volume
1
fYear
1998
fDate
13-17 Oct 1998
Firstpage
223
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.724623
Filename
724623
Link To Document