Set-Point Navigation of a Redundant Robot in Uncertain Environments using Finite Range Sensors
Conference paper > Full Text · 2008
Authors: Apoorva Kapadia, Enver TATLICIOĞLU, Darren M. Dawson
47th IEEE Conference on Decision and Control, Mexico, International, Verbal, Full Text, 2008-2008, WoS, vol , pp 4596-4601
Summary
In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation function-based kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired joint-space trajectory.