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A Brief Tour on Exotic Control Objectives in Robotics
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作者 Rafael Kelly Carmen Monroy 《Journal of Mechanics Engineering and Automation》 2018年第2期53-59,共7页
Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal (control objective) of a control system seems to be a trivial and obvious matter, for... Formulation of control objectives is a key issue in automatic control systems design. Although at first sight the desired goal (control objective) of a control system seems to be a trivial and obvious matter, for effectiveness of some high level robotic tasks, unusual exotic control objectives may be required. This paper presents a review of some exotic control objectives useful in robotics, such as velocity field control objective and range control objective. The paper also proposes a novel confinement control objective. The usefulness of these exotic control objectives may appear in safe robot-human interaction and self-protection of robots against collisions. 展开更多
关键词 Control objective ROBOT robot-human CONFINEMENT range velocity field TEFDA (total energy function with damping assignment exotic.
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