Constraining the Motion of a Robot Manipulator Using the Vector Potential Approach

A. A. Masoud; M. M. Bayoumi

doi:10.1109/AEROCS.1993.720983

Constraining the Motion of a Robot Manipulator Using the Vector Potential Approach

A. A. Masoud, M. M. Bayoumi

Research output: Contribution to conference › Paper › peer-review

1 Scopus citations

Abstract

In a recent work [ 1[ the authors suggested an-approach based on Artificial Vector Potential Fields to drive a robot along a safe path to a desired destination. In this paper the approach is extended to place constraints on both the position and velocity of the path. Placing a priori known constraints on both position and velocity of a robot is of considerable practical significance for system operation. Previous results are briefly stated, and simulation results are also provided.

Original language	English
Pages	493-497
Number of pages	5
DOIs	https://doi.org/10.1109/AEROCS.1993.720983
State	Published - 1993
Externally published	Yes

Bibliographical note

Publisher Copyright:
© 1993 IEEE.

ASJC Scopus subject areas

Aerospace Engineering
Control and Systems Engineering
Control and Optimization

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10.1109/AEROCS.1993.720983

Cite this

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abstract = "In a recent work [ 1[ the authors suggested an-approach based on Artificial Vector Potential Fields to drive a robot along a safe path to a desired destination. In this paper the approach is extended to place constraints on both the position and velocity of the path. Placing a priori known constraints on both position and velocity of a robot is of considerable practical significance for system operation. Previous results are briefly stated, and simulation results are also provided.",

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AB - In a recent work [ 1[ the authors suggested an-approach based on Artificial Vector Potential Fields to drive a robot along a safe path to a desired destination. In this paper the approach is extended to place constraints on both the position and velocity of the path. Placing a priori known constraints on both position and velocity of a robot is of considerable practical significance for system operation. Previous results are briefly stated, and simulation results are also provided.

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ER -

Constraining the Motion of a Robot Manipulator Using the Vector Potential Approach

Abstract

Bibliographical note

ASJC Scopus subject areas

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Cite this