TY - GEN
T1 - Velocity field control for free-form contour following tasks by a two link robot
AU - Chen, Chao Yun
AU - Cheng, Ming Yang
AU - Wang, Ying Hui
PY - 2008/12/22
Y1 - 2008/12/22
N2 - The idea of velocity field control has recently been used to tackle contour following problems. Although promising results have been reported in previous studies, the contour to be followed used in those studies were not represented in the form of Non-uniform rational B-Spline (NURBS), which is the fundamental geometric representation in many CAD/CAM systems. In order to extend velocity field control to contours represented in NURBS form, this paper develops a novel approach that constructs the velocity fields at preselected grid points. For any point not on the desired contour, its associated velocity field can be calculated in real-time using a simple interpolation formula and the velocity fields at nearby grid points. Several contour following experiments were conducted with a two-link robot to demonstrate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach is feasible.
AB - The idea of velocity field control has recently been used to tackle contour following problems. Although promising results have been reported in previous studies, the contour to be followed used in those studies were not represented in the form of Non-uniform rational B-Spline (NURBS), which is the fundamental geometric representation in many CAD/CAM systems. In order to extend velocity field control to contours represented in NURBS form, this paper develops a novel approach that constructs the velocity fields at preselected grid points. For any point not on the desired contour, its associated velocity field can be calculated in real-time using a simple interpolation formula and the velocity fields at nearby grid points. Several contour following experiments were conducted with a two-link robot to demonstrate the effectiveness of the proposed approach. Experimental results indicate that the proposed approach is feasible.
UR - http://www.scopus.com/inward/record.url?scp=57649219444&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=57649219444&partnerID=8YFLogxK
U2 - 10.1109/ROSE.2008.4669182
DO - 10.1109/ROSE.2008.4669182
M3 - Conference contribution
AN - SCOPUS:57649219444
SN - 9781424425952
T3 - ROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings
SP - 64
EP - 69
BT - ROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings
T2 - Photonic Device Engineering for Dual-Use Applications
Y2 - 17 April 1995 through 17 April 1995
ER -