Set-point navigation of a redundant robot in uncertain environments using finite range sensors
Apoorva D. Kapadia, Enver Tatlıcıoğlu, D.M. Dawson · 2008
In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation function-based kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired joint-space trajectory.