Constrained Motion Control Using Vector Potential Fields
Discusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary for its construction achieve this goal. The most...
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | , |
| Format: | article |
| Published: |
2000
|
| Subjects: | |
| Online Access: | https://eprints.kfupm.edu.sa/id/eprint/1213/1/Masoud.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1864513389534904320 |
|---|---|
| author | Masoud, Samer A. |
| author2 | Masoud, Ahmad A. unknown |
| author2_role | author author |
| author_facet | Masoud, Samer A. Masoud, Ahmad A. unknown |
| author_role | author |
| dc.creator.none.fl_str_mv | Masoud, Samer A. Masoud, Ahmad A. unknown |
| dc.date.none.fl_str_mv | 2000-05 2020 |
| dc.format.none.fl_str_mv | application/pdf |
| dc.identifier.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/1213/1/Masoud.pdf (2000) Constrained Motion Control Using Vector Potential Fields. The IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, 30 (3). pp. 251-272. |
| dc.language.none.fl_str_mv | en |
| dc.relation.none.fl_str_mv | https://eprints.kfupm.edu.sa/id/eprint/1213/ |
| dc.rights.*.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Electrical |
| dc.title.none.fl_str_mv | Constrained Motion Control Using Vector Potential Fields |
| dc.type.none.fl_str_mv | Article PeerReviewed info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | Discusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary for its construction achieve this goal. The most significant tool is the artificial vector potential field which shows a better ability to steer motion than does a scalar potential field. The synthesis procedure emphasizes flexibility so that the effort needed to modify the control is commensurate with the change in the geometry of the workspace. Theoretical development along with simulation results are provided |
| eu_rights_str_mv | openAccess |
| format | article |
| id | KFUPM_c1fc42129dd4b5968e9a40c3828cc46d |
| identifier_str_mv | (2000) Constrained Motion Control Using Vector Potential Fields. The IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, 30 (3). pp. 251-272. |
| language_invalid_str_mv | en |
| network_acronym_str | KFUPM |
| network_name_str | King Fahd University of Petroleum and Minerals |
| oai_identifier_str | oai::1213 |
| publishDate | 2000 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| spelling | Constrained Motion Control Using Vector Potential FieldsMasoud, Samer A.Masoud, Ahmad A.unknownElectricalDiscusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary for its construction achieve this goal. The most significant tool is the artificial vector potential field which shows a better ability to steer motion than does a scalar potential field. The synthesis procedure emphasizes flexibility so that the effort needed to modify the control is commensurate with the change in the geometry of the workspace. Theoretical development along with simulation results are provided2000-052020ArticlePeerReviewedinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttps://eprints.kfupm.edu.sa/id/eprint/1213/1/Masoud.pdf (2000) Constrained Motion Control Using Vector Potential Fields. The IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans, 30 (3). pp. 251-272. enhttps://eprints.kfupm.edu.sa/id/eprint/1213/info:eu-repo/semantics/openAccessoai::12132019-11-01T13:26:27Z |
| spellingShingle | Constrained Motion Control Using Vector Potential Fields Masoud, Samer A. Electrical |
| status_str | publishedVersion |
| title | Constrained Motion Control Using Vector Potential Fields |
| title_full | Constrained Motion Control Using Vector Potential Fields |
| title_fullStr | Constrained Motion Control Using Vector Potential Fields |
| title_full_unstemmed | Constrained Motion Control Using Vector Potential Fields |
| title_short | Constrained Motion Control Using Vector Potential Fields |
| title_sort | Constrained Motion Control Using Vector Potential Fields |
| topic | Electrical |
| url | https://eprints.kfupm.edu.sa/id/eprint/1213/1/Masoud.pdf |