By Topic

Region-Reaching Control of Robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
C. C. Cheah ; Nanyang Technol. Univ., Singapore ; D. Q. Wang ; Y. C. Sun

In conventional setpoint control problem of robots, the desired position is specified as a point. However, it is interesting to observe from most human reaching movements that the desired targets are regions rather than points. In fact, when the desired region is specified arbitrarily small, it reduces to a point. In this paper, we propose a new control concept called region reaching control for robots. In this new control concept, the desired objective can be specified as a region instead of a point. Since the desired region can be specified arbitrarily small, the region control concept is also a generalization of setpoint control problem. Experimental results are presented to illustrate the performance of the proposed controllers.

Published in:

IEEE Transactions on Robotics  (Volume:23 ,  Issue: 6 )