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Numerical solution of differential systems with algebraic inequalities arising in robot programming

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3 Author(s)
Spiteri, R.J. ; Dept. of Comput. Sci., British Columbia Univ., Vancouver, BC, Canada ; Ascher, U.M. ; Pai, D.K.

Recently, new robot programming approaches have proposed the use of programmed constraints as an executable specification language for the desired behavior of a robot. The constraint-based approaches are intermediate level languages, promising a higher, more declarative level of programming than trajectory-based approaches, while being more tractable computationally than motion planning. This paper considers a numerical algorithm for solution of differential systems subject to algebraic inequality constraints. These are the mathematical structures behind the constraint-based approach. Our approach is based on a principle of `least constraint', consisting of a dynamic integration of the equations of motion coupled with invocation of a control mechanism to ensure that the robot trajectory avoids all constraint boundaries. This is achieved by minimization of a barrier function defined using buffer zones near the constraint boundaries. Determination of the buffer zones is done dynamically, corresponding to a local planning strategy

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995