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Single step optimization of feedback-decoupled collision avoidance manipulator maneuversSimultaneous robot path planning and path following is shown to be achievable in the presence of motor saturation and obstacle avoidance requirements. The discrete time algorithm derived performs one step ahead mean square optimization of commanded joint accelerations, subject to present actuator force or torque constraints and N step ahead prediction of configuration constraints.
Document ID
19870026153
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, N.
(Illinois Univ. Urbana, IL, United States)
Dwyer, T. A. W., III
(Illinois, University Urbana, United States)
Fadali, M. S.
(Nevada, University Reno, United States)
Date Acquired
August 13, 2013
Publication Date
January 1, 1986
Subject Category
Cybernetics
Accession Number
87A13427
Funding Number(s)
CONTRACT_GRANT: NAG1-436
CONTRACT_GRANT: NSF ECS-85-16445
Distribution Limits
Public
Copyright
Other

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