{"title":"局部操作空间机器人的建模与闭环控制","authors":"M. Leborgne, B. Espiau","doi":"10.1109/CDC.1984.272353","DOIUrl":null,"url":null,"abstract":"This article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.","PeriodicalId":269680,"journal":{"name":"The 23rd IEEE Conference on Decision and Control","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1984-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Modelling and closed-loop control of robots in local operating space\",\"authors\":\"M. Leborgne, B. Espiau\",\"doi\":\"10.1109/CDC.1984.272353\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.\",\"PeriodicalId\":269680,\"journal\":{\"name\":\"The 23rd IEEE Conference on Decision and Control\",\"volume\":\"46 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1984-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"The 23rd IEEE Conference on Decision and Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/CDC.1984.272353\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"The 23rd IEEE Conference on Decision and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CDC.1984.272353","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modelling and closed-loop control of robots in local operating space
This article presents a new way of controlling robots upon external sensory informations, with focus on remote touching. First a general description of sensory based actions in the local environment is proposed. Then, we give a dynamical model in the space R3xSO3 (R), without parametrising orientations. Feedback loops are then closed using either a dynamic point of view, or a kinematic one. In the last part of the article, some experimental aspects are given when using infrared sensors. Limits of this work and further studies are presented in conclusion.
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