| Autor: |
D. Xiao, M. Cheng, W.B. Gao |
| Rok vydání: |
1991 |
| Předmět: |
|
| Zdroj: |
IFAC Proceedings Volumes. 24:201-206 |
| ISSN: |
1474-6670 |
| DOI: |
10.1016/s1474-6670(17)51056-3 |
| Popis: |
A new approach to tracking tasks by robots in the presence of environmental constraints is proposed. When the equations of the object as a rigid body are written in a component form with respect to axes fixed with the object, a new model of constraints is given in a very simple form as linear functions of velocity components. As a result, the system of differential equations of the the motion of the object is automatically decomposed into two subsystems: equations of motion and the equations of reactive force. Two schemes of force feedback are given. A hierarchical architecture is established for the overall control strategy such that the robot can track a set of different objects and may be with different desired motion. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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