Trajectory tracking for an anthropomorphic manipulator robot using APF's
This paper presents a control algorithm applying the theory of attractive potential fields (APF's) to achieve trajectory tracking in an anthropomorphic manipulator robot with three degrees of freedom. An APF together with its gradient descent is proposed to solve the problem. The theoretical re...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2024 |
| País: | México |
| Institución: | UNIVERSIDAD AUTÓNOMA DEL ESTADO DE HIDALGO |
| Repositorio: | PÄDI Boletín Científico de Ciencias Básicas e Ingeniería del ICBI |
| Idioma: | español |
| OAI Identifier: | oai:repository.uaeh.edu.mx:article/12270 |
| Acceso en línea: | https://repository.uaeh.edu.mx/revistas/index.php/icbi/article/view/12270 |
| Access Level: | acceso abierto |
| Palabra clave: | Attractive Potential Fields Gradient Descent Trajectory Tracking Anthropomorphic Robot Manipulator Matlab/Simulink Campos Potenciales Atractivos Gradiente Descendiente Seguimiento de Trayectorias Robot Manipulador Antropomórfico |
| Sumario: | This paper presents a control algorithm applying the theory of attractive potential fields (APF's) to achieve trajectory tracking in an anthropomorphic manipulator robot with three degrees of freedom. An APF together with its gradient descent is proposed to solve the problem. The theoretical results are validated numerically in Matlab/Simulink using different trajectories to corroborate the stability of the algorithm. |
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