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Nonlinear dynamic feedback technique for motion control in holonomic robotic systems

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3 Author(s)
A. Kapitanovsky ; Dept. of Mech. Eng., Toronto Univ., Ont., Canada ; A. A. Goldenberg ; J. K. Mills

A nonlinear dynamic feedback design technique for globally optimal motion control in a class of holonomic systems (e.g., robot manipulators and closed-link robotic mechanisms) is developed. The proposed technique provides asymptotically stable convergence to a desired equilibrium state defined as a (task) function of the Cartesian (e.g., end-effector) coordinates, as well as marginally stable tracking of a desired Cartesian trajectory. The problem of obstacle avoidance is addressed. It is shown that the proposed technique works for redundant systems, as well as for non-redundant ones. Applications of the proposed technique and numerical simulation results are presented

Published in:

Intelligent Control, 1993., Proceedings of the 1993 IEEE International Symposium on

Date of Conference:

25-27 Aug 1993