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

Chao Yun Chen, Ming Yang Cheng, Ying Hui Wang

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題ROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings
頁面64-69
頁數6
DOIs
出版狀態Published - 2008 十二月 22
事件Photonic Device Engineering for Dual-Use Applications - Orlando, FL, United States
持續時間: 1995 四月 171995 四月 17

出版系列

名字ROSE 2008 - IEEE International Workshop on Robotic and Sensors Environments Proceedings

Other

OtherPhotonic Device Engineering for Dual-Use Applications
國家United States
城市Orlando, FL
期間95-04-1795-04-17

All Science Journal Classification (ASJC) codes

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

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