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

(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
Subjects: Computer
Department: College of Engineering and Physics > Electrical Engineering
Depositing User: Mr. Admin Admin
Date Deposited: 24 Jun 2008 13:39
Last Modified: 01 Nov 2019 14:06
URI: https://eprints.kfupm.edu.sa/id/eprint/14530