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This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Article
A Brief Tour on Exotic Control Objectives in Robotics
Author(s)
Rafael Kelly1 and Carmen Monroy2
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DOI:10.17265/2159-5275/2018.02.002
Affiliation(s)
1. DET-DFA, Division de Fisica Aplicada, CICESE, Carretera Ensenada-Tijuana No. 3918, Zona Playitas, Ensenada, B.C., 22860, Mexico
2. ISEP–Sistema Educativo Estatal, Zona 01, Ensenada, B.C., 22800, Mexico
ABSTRACT
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.
KEYWORDS
Control objective, robot, robot-human, confinement, range, velocity field, TEFDA (total energy function with damping assignment), exotic.
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