Harmonic control (robot applications)

Abstract

Harmonic functions are used in conjunction with velocity-based control to implement a robot system that is flexible in coping with errors in the environment model and in robot positions. Harmonic functions provide a method for implementing potential-field path planning. Since they produce smooth vector fields that are free of spurious local minima, they also provide an ideal mechanism for implementing velocity-based control. The resulting control system is termed harmonic control. The strategy described provides a robust means of controlling a manipulator in the presence of external forces. A system that simulates velocity control of a two-link revolute robot arm is presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>