Modelling and closed-loop control of robots in local operating space

摘要

This article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.