Decentralized Adaptive Control of Manipulators
This paper presents two new adaptive schemes for motion control of robot manipulators.
robots robot manipulators motion control↗
Engineering topics
Colbaugh, Richard
Publications and source records attributed to Colbaugh, Richard.
Redundant Robot Can Avoid Obstacles
Simple and direct control scheme enables redundant robot to avoid obstacles in workspace. In proposed scheme, called "configuration control", degrees of freedom used to configure robot to satisfy set of inequality constraints representing avoidance of obstacles, while simultaneously making end effector follow desired trajectory. Provides capability to avoid obstacles in dynamically varying environment where apriori planning of tasks not feasible.
Homayoun, Seraji↗