A Modular Approach to Redundant Robot Control

Anderson, R J

Title: A Modular Approach to Redundant Robot Control

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Abstract

This paper describes a modular approach for computing redundant robot kinematics. First some conventional redundant control methods are presented and shown to be `passive control laws`, i.e. they can be represented by a network consisting of passive elements. These networks are then put into modular form by applying scattering operator techniques. Additional subnetwork modules can then be added to further shape the motion. Modules for obstacle detection, joint limit avoidance, proximity sensing, and for imposing nonlinear velocity constraints are presented. The resulting redundant robot control system is modular, flexible and robust.

Authors:: Anderson, R J

Publication Date:: Mon Dec 01 00:00:00 EST 1997

Research Org.:: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)

Sponsoring Org.:: USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)

OSTI Identifier:: 629323

Report Number(s):: SAND-97-3097C; CONF-970469-
ON: DE98001676; TRN: 98:009719

DOE Contract Number:: AC04-94AL85000

Resource Type:: Conference

Resource Relation:: Conference: 1997 international conference on robotics and automation, Albuquerque, NM (United States), 20-25 Apr 1997; Other Information: PBD: Dec 1997

Country of Publication:: United States

Language:: English

Subject:: 42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ROBOTS; NONLINEAR PROBLEMS; CONTROL THEORY; CONTROL; MODULAR STRUCTURES

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                    Anderson, R J. A Modular Approach to Redundant Robot Control.  United States: N. p., 1997. 
        Web.

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                    Anderson, R J. A Modular Approach to Redundant Robot Control.  United States.

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                    Anderson, R J. 1997.  
        "A Modular Approach to Redundant Robot Control".  United States.  https://www.osti.gov/servlets/purl/629323.

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@article{osti_629323,

  title        = {A Modular Approach to Redundant Robot Control},

  author       = {Anderson, R J},

  abstractNote = {This paper describes a modular approach for computing redundant robot kinematics. First some conventional redundant control methods are presented and shown to be `passive control laws`, i.e. they can be represented by a network consisting of passive elements. These networks are then put into modular form by applying scattering operator techniques. Additional subnetwork modules can then be added to further shape the motion. Modules for obstacle detection, joint limit avoidance, proximity sensing, and for imposing nonlinear velocity constraints are presented. The resulting redundant robot control system is modular, flexible and robust.},

  doi          = {},

  url          = {https://www.osti.gov/biblio/629323},
  journal      = {},
number       = ,

  volume       = ,

  place        = {United States},

  year         = {Mon Dec 01 00:00:00 EST 1997},

  month        = {Mon Dec 01 00:00:00 EST 1997}

}

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