Rob Spence - Academia.edu (original) (raw)
Uploads
Papers by Rob Spence
... Potential Field Planning with Inverse Dynamics Control Rob Spence Seth Hutchinson The Beckman... more ... Potential Field Planning with Inverse Dynamics Control Rob Spence Seth Hutchinson The Beckman Institute for Adivanced Science and Technology Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana, IL 61801 ...
IEEE Transactions on Systems, Man, and Cybernetics, 1995
Abstruct-We present an integrated architecture for real-time planning and control of robot motion... more Abstruct-We present an integrated architecture for real-time planning and control of robot motions, for a robot operating in the presence of moving obstacles whose trajectories are not known a priori. The architecture comprises three control loops: an inner loop to linearize the robot dynamics, and two outer loops to implement the attractive and repulsive forces used by an artificial potential field motion planning algorithm. From a control theory perspective, our approach is unique in that the outer control loops are used to effect both desirable transient response and collision avoidance. From a motion planning perspective, our approach is unique in that the dynamic characteristics of both the robot and the moving obstacles are considered. Several simulations are presented that demonstrate the effectiveness of the plannerkontroller combination. , force and position sensing for robot motion planning and control, dynamic planning and control, dynamic planning of sensing stategies, constraint based reasoning, task planning for automated assembly, evidential reasoning applied to model based object recognition, and sensor integration.
... Potential Field Planning with Inverse Dynamics Control Rob Spence Seth Hutchinson The Beckman... more ... Potential Field Planning with Inverse Dynamics Control Rob Spence Seth Hutchinson The Beckman Institute for Adivanced Science and Technology Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana, IL 61801 ...
IEEE Transactions on Systems, Man, and Cybernetics, 1995
Abstruct-We present an integrated architecture for real-time planning and control of robot motion... more Abstruct-We present an integrated architecture for real-time planning and control of robot motions, for a robot operating in the presence of moving obstacles whose trajectories are not known a priori. The architecture comprises three control loops: an inner loop to linearize the robot dynamics, and two outer loops to implement the attractive and repulsive forces used by an artificial potential field motion planning algorithm. From a control theory perspective, our approach is unique in that the outer control loops are used to effect both desirable transient response and collision avoidance. From a motion planning perspective, our approach is unique in that the dynamic characteristics of both the robot and the moving obstacles are considered. Several simulations are presented that demonstrate the effectiveness of the plannerkontroller combination. , force and position sensing for robot motion planning and control, dynamic planning and control, dynamic planning of sensing stategies, constraint based reasoning, task planning for automated assembly, evidential reasoning applied to model based object recognition, and sensor integration.