CONSTRAINED ACCELERATED-FEEDBACK CONTROL FOR ROBOT MOTION

Authors
XIAO J VOLZ RA
Citation
J. Xiao et Ra. Volz, CONSTRAINED ACCELERATED-FEEDBACK CONTROL FOR ROBOT MOTION, Robotics and computer-integrated manufacturing, 12(3), 1996, pp. 251-259
Citations number
19
Categorie Soggetti
Robotics & Automatic Control","Computer Science Interdisciplinary Applications","Engineering, Manufacturing
Journal title
Robotics and computer-integrated manufacturing → ACNP
ISSN journal
07365845
Volume
12
Issue
3
Year of publication
1996
Pages
251 - 259
Database
ISI
SICI code
0736-5845(1996)12:3<251:CACFRM>2.0.ZU;2-6
Abstract
Sensing, modeling, control and manufacturing uncertainties make it gen erally impossible to guarantee the success of high-precision robot tas ks. The paper analyzes the relationships among these uncertainty param eters and derives constraints which govern the success of a new form o f control strategy: the constrained accelerated-feedback (CAF) control strategy. The CAF control strategy is suitable for high-level control accommodating the use of multiple sensing modalities, and aims at gua ranteeing the success of robot motion in spite of uncertainties. Copyr ight (C) 1996 Elsevier Science Ltd.