Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
5000430 | Control Engineering Practice | 2017 | 10 Pages |
Abstract
This paper presents a novel methodology for motion specification and robust reactive execution. Traditional trajectory generation techniques and optimisation-based control strategies are merged into a unified framework for simultaneous motion planning and control. An experimental case study demonstrates the effectiveness and the robustness of this approach, as applied to an image-guided grasping task.
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Authors
Andrea Maria Zanchettin, Paolo Rocco,