Name
Title | ||
|---|---|---|
A lower dimensional task function method for point-to-point control of non-redundant manipulators |
Abstract | ||
|---|---|---|
This paper proposed a task function method for the point-to-point (PTP) control problem of non-redundant robot manipulators. A task function to compress the conventional task space to a new one with lower dimensions increases the redundancy degree so that the original manipulator becomes a redundant one, such that we can apply redundant control laws to achieve online subtasks, such as obstacle avoidance without trajectory replanning. The four basic properties of the task function method which are necessary to ensure the good performance of the PTP control problem are presented. The experiment results verify the effectiveness of the presented method. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979550 | ICRA |
Keywords | Field | DocType |
lower dimensional task function,redundancy degree,nonredundant robot manipulators,redundant control laws,nonredundant manipulators,obstacle avoidance,point-to-point control problem,manipulators,collision avoidance,trajectory replanning,trajectory,tracking,point to point | Obstacle avoidance,Control theory,Manipulator,Control engineering,Point to point control,Redundancy (engineering),Aerospace electronics,Engineering,Robot manipulator,Trajectory | Conference |
Volume | Issue | ISSN |
null | null | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 0 | 0.34 |
References | Authors | |
15 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Cong-wei Zhong | 1 | 31 | 2.39 |
| Ji Xiang | 2 | 237 | 28.37 |
| Wei Wei | 3 | 0 | 0.34 |
| Yuan-hui Zhang | 4 | 47 | 5.80 |