Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces
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 pl...
محفوظ في:
| المؤلف الرئيسي: | |
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| مؤلفون آخرون: | |
| التنسيق: | article |
| منشور في: |
2006
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://eprints.kfupm.edu.sa/id/eprint/14530/1/14530_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14530/2/14530_2.doc |
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| _version_ | 1864513393819385856 |
|---|---|
| author | Masoud, A.A. |
| author2 | unknown |
| author2_role | author |
| author_facet | Masoud, A.A. unknown |
| author_role | author |
| dc.creator.none.fl_str_mv | Masoud, A.A. unknown |
| dc.date.none.fl_str_mv | 2006-12 2020 |
| dc.format.none.fl_str_mv | application/pdf application/msword |
| dc.identifier.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14530/1/14530_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14530/2/14530_2.doc (2006) Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces. Decision and Control, 2006 45th IEEE conference, 1. |
| dc.language.none.fl_str_mv | en en |
| dc.publisher.none.fl_str_mv | IEEE |
| dc.relation.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/14530/ |
| dc.rights.*.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Computer |
| dc.title.none.fl_str_mv | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| dc.type.none.fl_str_mv | Article PeerReviewed info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | 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 |
| eu_rights_str_mv | openAccess |
| format | article |
| id | KFUPM_b56c3b427cfe361da3301ae6fa7a4bfc |
| identifier_str_mv | (2006) Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces. Decision and Control, 2006 45th IEEE conference, 1. |
| language_invalid_str_mv | en |
| network_acronym_str | KFUPM |
| network_name_str | King Fahd University of Petroleum and Minerals |
| oai_identifier_str | oai::14530 |
| publishDate | 2006 |
| publisher.none.fl_str_mv | IEEE |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening ForcesMasoud, A.A.unknownComputerIn 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 paperIEEE2006-122020ArticlePeerReviewedinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/mswordhttps://eprints.kfupm.edu.sa/id/eprint/14530/1/14530_1.pdfhttps://eprints.kfupm.edu.sa/id/eprint/14530/2/14530_2.doc (2006) Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces. Decision and Control, 2006 45th IEEE conference, 1. enenhttps://eprints.kfupm.edu.sa/id/eprint/14530/info:eu-repo/semantics/openAccessoai::145302019-11-01T14:06:16Z |
| spellingShingle | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces Masoud, A.A. Computer |
| status_str | publishedVersion |
| title | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| title_full | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| title_fullStr | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| title_full_unstemmed | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| title_short | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| title_sort | Agile, Steady Response of Inertial, Constrained Holonomic Robots Using Nonlinear, Anisotropic Dampening Forces |
| topic | Computer |
| url | https://eprints.kfupm.edu.sa/id/eprint/14530/1/14530_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14530/2/14530_2.doc |