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Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces

Masoud, A.A. (2006) Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces. Decision and Control, 2006 45th IEEE conference, 1.

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Abstract

In this paper, the harmonic potential field (HPF) approach to motion planning is adapted to work with second order mechanical systems. The extension is based on a novel type of dampening forces called: nonlinear, anisotropic, dampening forces (NADFs). It is shown that NADFs are effective aids for planning spatially-constrained kinodynamic trajectories for mechanical systems. Theoretical developments and simulation results are provided in the paper



Item Type:Article
Date:December 2006
Date Type:Publication
Subjects:Computer
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Masoud, A.A.
ID Code:14530
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:39
Last Modified:12 Apr 2011 13:16

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