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Region-Reaching Control of Robots

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

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:

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