Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2295
Title: Set-point navigation of a redundant robot in uncertain environments using finite range sensors
Authors: Kapadia, Apoorva
Tatlıcıoğlu, Enver
Dawson, Darren M.
Keywords: Sensors
Asymptotic tracking
Uncertain environments
Kinematic controllers
Redundant robots
Issue Date: 2008
Publisher: Institute of Electrical and Electronics Engineers Inc.
Source: Kapadia, A., Tatlıcıoğlu, E., and Dawson, D. M. (2008, December 9-11). Set-point navigation of a redundant robot in uncertain environments using finite range sensors. Paper presented at the 47th IEEE Conference on Decision and Control. doi:10.1109/CDC.2008.4739225
Abstract: 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 functionbased 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 jointspace trajectory.
URI: http://doi.org/10.1109/CDC.2008.4739225
http://hdl.handle.net/11147/2295
ISBN: 9781424431243
ISSN: 0191-2216
0191-2216
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Sürdürülebilir Yeşil Kampüs Koleksiyonu / Sustainable Green Campus Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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