A Modular Approach to Redundant Robot Control

Conference · Mon Dec 01 00:00:00 EST 1997

OSTI ID:629323

Anderson, R J

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.

• Research Organization: Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
• DOE Contract Number: AC04-94AL85000
• OSTI ID: 629323
• Report Number(s): SAND-97-3097C; CONF-970469-; ON: DE98001676; TRN: 98:009719
• 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

Related Subjects

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