Constraining the Motion of a Robot Manipulator Using the Vector Potential Approach

摘要

In a recent work [ 1 ] the authors suggested an-approach based on Artificial Vector Potential Fields to drive a robot along a safe path to a desired destination. In this paper the approach is extended to place constraints on both the position and velocity of the path. Placing a priori known constraints on both position and velocity of a robot is of considerable practical significance for system operation. Previous results are briefly stated, and simulation results are also provided.