Passive velocity field control approach to robot contour following

Perry Y. Li, Roberto Horowitz

Research output: Chapter in Book/Report/Conference proceedingChapter

6 Scopus citations

Abstract

In many applications, a robot is required to follow a contour. This requires the various degrees of freedom of the robot to be well coordinated so that the position of the robot does not fall outside the specified contour. However, the speed at which the contour is followed is often not critical. In this paper, we propose a control methodology in which the coordination aspect is made explicit by specifying the task using a velocity field on a manifold related to configuration space of the robot. The passive control law proposed in (Li and Horowitz, 1995; Li, 1995) is used so that the defined velocity field is tracked and the robot traces out the desired contour. Using this control scheme, timing along the contour can be naturally varied on-line by a self pacing scheme so that the tracking performance can be improved. The experimental results of the proposed scheme applied to a robot following a Lissajous contour are presented.

Original languageEnglish (US)
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages25-32
Number of pages8
Volume1
StatePublished - Dec 1 1996
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: Jul 7 1996Jul 10 1996

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period7/7/967/10/96

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