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Citation - WoS: 5
Citation - Scopus: 6
Set-Point Navigation of a Redundant Robot in Uncertain Environments Using Finite Range Sensors
(Institute of Electrical and Electronics Engineers Inc., 2008) Kapadia, Apoorva; Tatlıcıoğlu, Enver; Dawson, Darren M.
In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation functionbased kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired jointspace trajectory.

Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği