Graph-based potential field for the end-effector control within the torque-based task hierarchy.
Dawid SeredynskiKonrad BanachowiczTomasz WiniarskiPublished in: MMAR (2016)
Keyphrases
- end effector
- potential field
- degrees of freedom
- joint space
- robot manipulators
- position control
- robot arm
- inverse kinematics
- robotic manipulator
- visual servoing
- motion planning
- path planning
- vision system
- control scheme
- force feedback
- mobile robot
- control system
- dynamic environments
- dynamic model
- biologically inspired
- collision avoidance
- control strategy
- control method
- obstacle avoidance
- control strategies
- control law
- multi robot
- force field
- robot control
- robotic systems
- three dimensional
- joint angles
- multi modal
- control algorithm
- d objects
- optimal control