Automatic Planning and Control of Robot Natural Motion Via Feedback

Daniel E. Koditschek

A chapter in Adaptive and Learning Systems, 1986, pp 389-402 from Springer

Abstract: Abstract A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities.

Keywords: Target Space; Reference Trajectory; Revolute Joint; Task Space; Rigid Body Model (search for similar items in EconPapers)
Date: 1986
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DOI: 10.1007/978-1-4757-1895-9_28

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