Set-Point Navigation of a Redundant Robot in Uncertain Environments using Finite Range Sensors

Kapadia A., Tatlicioglu E. , Dawson D. M.

47th IEEE Conference on Decision and Control, Cancun, Mexico, 9 - 11 December 2008, pp.4596-4601 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume:
  • Doi Number: 10.1109/cdc.2008.4739225
  • City: Cancun
  • Country: Mexico
  • Page Numbers: pp.4596-4601


In this work, control of redundant robot manipulators in an uncertain environment is considered. The manipulator is equipped with finite range sensors to detect obstacles in its workspace. A navigation function-based kinematic controller is proposed to ensure the regulation of the end-effector to a desired set-point while the entire manipulator simultaneously avoids the obstacle points detected by the sensors. A joint-space controller is then utilized to ensure asymptotic tracking of the desired joint-space trajectory.