Artificial potential method for control of constrained robot motion

摘要

The artificial potential method of constrained robot control is presented. The method does not imply knowledge of a detailed robot model and, nevertheless, makes it possible to drive a robot in the environment with obstacles of any shape and along a desired trajectory as well as to take into account constructive constraints. The method is based on the construction of an artificial potential that provides the absence of intermediate equilibriums in which the robot can be locked.