Real time path planning for the constrained motion of fault tolerant robot manipulators

被引：0
|
作者：
El-Salam, AI [1 ]
El-Haweet, WA [1 ]
Pertew, AMG [1 ]
机构：
[1] Univ Alexandria, Fac Engn, Comp Sci & Automat Control Dept, Alexandria, Egypt
来源：
SICE 2003 ANNUAL CONFERENCE, VOLS 1-3 | 2003年
关键词：
underactuated manipulator; path planning; real time; nonholonomic constraints;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A technique for real time path planning of underactuated robots is developed. The real time path-planning problem is posed as a finite time nonlinear control problem, which is solved in parallel with an optimization technique in the real time. A new controller that is called the Fault Tolerant Motion controller (FTM) is developed. Also a new measure that we called the Reliability Index (RI) is proposed to monitor, instantly, the performance of the FTM. Simulation studies are presented.
引用
收藏
页码：2062 / 2067
页数：6
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