Title :
A Hamiltonian framework for kinodynamic planning and control
Author :
Connolly, Christopher I. ; Souccar, Kamal ; Grupen, Roderic A.
Author_Institution :
Dept. of Brain & Congnitive Sci., MIT, Cambridge, MA, USA
Abstract :
Control based on artificial potentials results in, bounded-torque controllers. The authors extend this notion by devising energy-reference controllers that use harmonic potentials to produce collision-free kinodynamic behavior. In addition, the phase space structure of a manipulator controlled by an artificial potential “copies” the critical point structure of that potential. This result is used in conjunction with harmonic potentials to generate and control convergent and repetitive motions for a manipulator
Keywords :
manipulator dynamics; manipulator kinematics; path planning; Hamiltonian framework; artificial potentials; collision-free kinodynamic behavior; convergent motions; critical point structure; energy-reference controllers; harmonic potentials; kinodynamic control; kinodynamic planning; manipulator; phase space structure; repetitive motions; Cognitive robotics; Computer networks; Computer science; Laboratories; Motion control; Orbital robotics; Orbits; Path planning; Robotics and automation; Robots;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525672
