Abstract
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.
Published Version
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