Showing papers by "Claude Samson published in 1991"
Book•
25 Apr 1991
TL;DR: From the Publisher: A complete approach to the problem of controlling robot manipulators needs to bring together three scientific branches: computer science, mechanics, and automatic control.
Abstract: From the Publisher:
A complete approach to the problem of controlling robot manipulators needs to bring together three scientific branches: computer science, mechanics, and automatic control.
652 citations
09 Apr 1991
TL;DR: A preliminary study of the problem of the feedback control of mobile robots is presented, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving.
Abstract: A preliminary study of the problem of the feedback control of mobile robots is presented. The robot considered is a two-wheel-driven nonholonomic cart. Despite the controllability of the system, pure state feedback stabilization of the cart's configuration around a given terminal configuration is not possible. However, feedback stabilization of the position of any point of the cart is possible. Extension to the problem of trajectory tracking in Cartesian space is then considered, and it is shown that stabilization of the cart's configuration around the configuration of a virtual reference cart becomes possible as long as the reference cart keeps moving. Several simple control laws are proposed, and simulation results are given. Connections with the path planning problem are pointed out. >
451 citations
01 Jan 1991
TL;DR: Among other results, the existence of smooth feedback controls that stabilize the cart at a desired position and orientation is established and does not contradict earlier non-existence results.
Abstract: A framework for designing and analysing velocity and torque feedback controls for a nonholonomic wheeled-cart is presented. A stability analysis of a set of nonlinear systems, the equations of which encompass all stable linear invariant systems, is first proposed. This analysis is then applied to the design and analysis of feedback controls for the wheeled-cart. The control inputs are either the cart's motorized wheels angular velocities (velocity control) or the torques applied to those wheels (torque control). Various control objectives are discussed and sufficient conditions for asymptotic convergence of the proposed controls are given. Among other results, the existence of smooth feedback controls that stabilize the cart at a desired position and orientation is established. This result does not contradict earlier non-existence results because the stabilizing controls depend not only on the robot's configuration variables but also on the exogeneous time variable.
291 citations