INVESTIGADORES
CARELLI ALBARRACIN Ricardo Oscar
congresos y reuniones científicas
Título:
Control of manipulators with motion restrictions based on potential following
Autor/es:
FERNANDO VILLEGAS; ZULMA MILLÁN; RICARDO CARELLI
Lugar:
San Carlos de Bariloche
Reunión:
Simposio; XV Reunión de Trabajo en Procesamiento de la Información y Control, RPIC 2013; 2013
Institución organizadora:
Universidad Nacional de Cuyo
Resumen:
This work presents a control approach based on artificial potentials for the positioning and trajectory tracking of the end effector of a manipulator under motion restrictions for its links. By performing potential following the manipulator is prevented from entering restricted areas. Under certain conditions the proposed control can perform trajectory tracking with an asymptotically convergent tracking error.
