Real-time obstacle avoidance for manipulators and mobile robots
International Journal of Robotics Research
Robot planning and control via potential functions
The robotics review 1
Differential equations and dynamical systems
Differential equations and dynamical systems
A dynamical systems perspective on agent-environment interaction
Artificial Intelligence - Special volume on computational research on interaction and agency, part 1
A general algorithm for dynamic control of multilink robots
International Journal of Robotics Research
The Mathematica Book
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Control of mobile manipulator using the dynamical systems approach
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
| Hi-index | 0.00 |
In this paper we generalize previous work in which the fixed points of dynamical systems were used to construct obstacle-avoiding, goal-attracting trajectories for robots to more complex attractors such as limit cycles in the form of closed planar curves. Following the development of a formalism for dealing with a mechanical system, some of whose coordinates are constrained to follow the trajectories of a set of coupled differential equations, we discuss how to construct, analyze, and solve a planar dynamical system whose limit set is one or more user-specified closed curves or limit cycles. This work finds its relevance in a wide range of applications. Our focus has mainly been on planning tool trajectories for industrial robot manipulators with applications such as welding and painting. However, the generalization from fixed points to limit cycles is also applicable when controlling automatic guided vehicles.