Title :
Robot motion control in dynamic environments
Author :
Miroshnik, I.V. ; Sergeev, K.A.
Author_Institution :
Lab. of Cybern. & Control Syst., State Inst. of Fine Mech. & Opt., St. Petersburg, Russia
Abstract :
The paper concerns trajectory problems for stationary, platform-mounted or mobile robots interacting with moving external objects. A task oriented model of spatial motion in mobile environments is obtained and nonlinear control laws based on geometric methodologies of the theory of nonlinear and MIMO systems are designed
Keywords :
MIMO systems; asymptotic stability; geometry; motion control; nonlinear control systems; position control; robot dynamics; MIMO systems; dynamic environments; geometric methodologies; mobile robots; motion control; moving external objects; nonlinear control laws; nonlinear systems; platform-mounted robots; spatial motion; stationary robots; task oriented model; trajectory problems; Control systems; Equations; Mobile robots; Motion control; Orbital robotics; Robot control; Robot kinematics; Robot motion; Solid modeling; Transmission line matrix methods;
Conference_Titel :
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location :
Como
Print_ISBN :
0-7803-6736-7
DOI :
10.1109/AIM.2001.936913
