Velocity field control for free-form contour following tasks by a two link robot

Chao Yun Chen, Ming Yang Cheng, Ying Hui Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings
Pages64-69
Number of pages6
DOIs
Publication statusPublished - 2008 Dec 22
EventPhotonic Device Engineering for Dual-Use Applications - Orlando, FL, United States
Duration: 1995 Apr 171995 Apr 17

Publication series

NameROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings

Other

OtherPhotonic Device Engineering for Dual-Use Applications
CountryUnited States
CityOrlando, FL
Period95-04-1795-04-17

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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