DocumentCode
3288907
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
Volume
2
fYear
2001
fDate
2001
Firstpage
1303
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 2001. Proceedings. 2001 IEEE/ASME International Conference on
Conference_Location
Como
Print_ISBN
0-7803-6736-7
Type
conf
DOI
10.1109/AIM.2001.936913
Filename
936913
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