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W2153883023 abstract "Abstruct- This paper presents new robot aim1 planiiiiig and control schemes compatible with sensing based planning and control. These developiiieiits are a central component of robot arm coiitrol intelligence. The sclieines iise pliase space (velocity versus position) representation of robot arm motion in tlie task space, and apply time and energy optimization tecliiiiqiics to deteriiiiuc non-time based trajectories for giveii geometric path in tlie task space. A new pliasc space crror defiiiitioii aiid coiripiitatioii liavc been introtliiced aiid combined witli kiiowii nonlinear fcetlback control law, whicli linearizes and decoiiples the control in tlie task space. Tlic! system stability lias been proveii. Tlie new phase space plaiiiiiiig aiid coiitrol schemes were experiiiieiitally iiiipleiiieiited and tested on the 3-DOF positioii coiitrol of a PUMA 560 robot arm with very good results. I. INTRODIICTION" @default.
W2153883023 created "2016-06-24" @default.
W2153883023 creator A5004605429 @default.
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W2153883023 date "2005-08-24" @default.
W2153883023 modified "2023-09-25" @default.
W2153883023 title "Motion Planning In Phase Space For Intelligent Robot Arm Control" @default.
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W2153883023 doi "https://doi.org/10.1109/iros.1992.594212" @default.
W2153883023 hasPublicationYear "2005" @default.
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