IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans, volume 30, issue 3, pages 251-272

Constrained motion control using vector potential fields

S. A. Masoud ¹

A A Masoud ¹

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Mechanical Engineering Department, Jordan University of Science and Technology, Irbid, Jordan |

Publication type: Journal Article

Publication date: 2000-05-01

Institute of Electrical and Electronics Engineers (IEEE)

Journal: IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans

SJR: —

CiteScore: —

Impact factor: —

ISSN: 10834427, 15582426

DOI: 10.1109/3468.844352

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Computer Science Applications

Electrical and Electronic Engineering

Software

Control and Systems Engineering

Human-Computer Interaction

Abstract

Discusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary for its construction achieve this goal. The most significant tool is the artificial vector potential field which shows a better ability to steer motion than does a scalar potential field. The synthesis procedure emphasizes flexibility so that the effort needed to modify the control is commensurate with the change in the geometry of the workspace. Theoretical development along with simulation results are provided.

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CITATIONS

82 Total citations

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15 Field Citation Ratio

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Masoud S. A., Masoud A. A. Constrained motion control using vector potential fields // IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans. 2000. Vol. 30. No. 3. pp. 251-272.

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Masoud S. A., Masoud A. A. Constrained motion control using vector potential fields // IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans. 2000. Vol. 30. No. 3. pp. 251-272.

RIS |

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RIS Copy

TY - JOUR

DO - 10.1109/3468.844352

UR - https://doi.org/10.1109/3468.844352

TI - Constrained motion control using vector potential fields

T2 - IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans

AU - Masoud, S. A.

AU - Masoud, A A

PY - 2000

DA - 2000/05/01

PB - Institute of Electrical and Electronics Engineers (IEEE)

SP - 251-272

IS - 3

VL - 30

SN - 1083-4427

SN - 1558-2426

ER -

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@article{2000_Masoud,

author = {S. A. Masoud and A A Masoud},

title = {Constrained motion control using vector potential fields},

journal = {IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans},

year = {2000},

volume = {30},

publisher = {Institute of Electrical and Electronics Engineers (IEEE)},

month = {may},

url = {https://doi.org/10.1109/3468.844352},

number = {3},

pages = {251--272},

doi = {10.1109/3468.844352}

}

MLA

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MLA Copy

Masoud, S. A., and A A Masoud. “Constrained motion control using vector potential fields.” IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans, vol. 30, no. 3, May. 2000, pp. 251-272. https://doi.org/10.1109/3468.844352.

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Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Journal

IEEE Transactions on Systems Man and Cybernetics - Part A Systems and Humans

SJR

—

CiteScore

—

Impact factor

—

ISSN

10834427 (Print)

15582426 (Electronic)

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