Artificial potential method for control of constrained robot motion

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13 Citations (Scopus)

Abstract

The artificial potential method of constrained robot control is presented. The method does not imply knowledge of a detailed robot model and, nevertheless, makes it possible to drive a robot in the environment with obstacles of any shape and along a desired trajectory as well as to take into account constructive constraints. The method is based on the construction of an artificial potential that provides the absence of intermediate equilibriums in which the robot can be locked.

Original languageEnglish (US)
Pages (from-to)447-453
Number of pages7
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume28
Issue number3
DOIs
StatePublished - 1998
Externally publishedYes

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

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title = "Artificial potential method for control of constrained robot motion",
abstract = "The artificial potential method of constrained robot control is presented. The method does not imply knowledge of a detailed robot model and, nevertheless, makes it possible to drive a robot in the environment with obstacles of any shape and along a desired trajectory as well as to take into account constructive constraints. The method is based on the construction of an artificial potential that provides the absence of intermediate equilibriums in which the robot can be locked.",
author = "Natalia Dounskaia",
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