NDLI: Attractive regions in the environment [motion planning]

Content Provider	IEEE Xplore Digital Library
Author	Hong Qiao
Copyright Year	2000
Description	Author affiliation: Dept. of Manuf. Eng. & Eng. Manage., City Univ. of Hong Kong, China (Hong Qiao)
Abstract	In general, it is believed that the sensor-less manipulation can only achieve low-precision or simple tasks. However, it is not always true. We point out that there are two attractive regions. In the motion space of the dynamic system with an active control system, which bases on sensory feedback, there is an attractive region, which forces the system to follow the nominal trajectory with the uncertainty of the system. At the same time, there is another attractive region, which widely exists in the configuration space of the dynamic system under constraints from environment. Both of these two attractive regions can be used to eliminate the uncertainty of the system states in order to achieve high-precision tasks. This paper focuses on the effective use of attractive regions in the environment to eliminate the uncertainty. However, in general, sensors are still useful and play an important role in many systems. Thus this work is related to the approach on the relationship between required information and strategy investigation.
Starting Page	1420
Ending Page	1427
File Size	782443
Page Count	8
File Format	PDF
ISBN	0780358864
ISSN	10504729
DOI	10.1109/ROBOT.2000.844797
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-04-24
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Robot sensing systems Control systems State feedback Motion control Sensor systems Humans Robotic assembly Force sensors Error correction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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