Experiments in reflex control for industrial manipulators. Newman, W. S. and Branicky, M. S. In , IEEE International Conference on Robotics and Automation Proceedings, pages 266–271 vol.1, May, 1990.
doi  abstract   bibtex   
Experiments in automatic collision avoidance for robots using acceleration-based reflex control are described. Acceleration-based reflex control responds to acceleration commands from higher levels, as opposed to prior reflex control approaches based on position commands from higher levels. Reflex control is exerted in configuration space and assumes either inherent dynamic decoupling of the robot links or feedback decoupling. Implementation of acceleration-based reflex control for 3-D collision avoidance using a General Electric GP132 robot is described. Collision avoidance with respect to stationary obstacles is guaranteed. In addition, performance measurements illustrate how the reflexes introduce no significant distortion to higher-level controllers when reflex action is not required.\textless\textlessETX\textgreater\textgreater
@inproceedings{newman_experiments_1990,
	title = {Experiments in reflex control for industrial manipulators},
	doi = {10.1109/ROBOT.1990.125984},
	abstract = {Experiments in automatic collision avoidance for robots using acceleration-based reflex control are described. Acceleration-based reflex control responds to acceleration commands from higher levels, as opposed to prior reflex control approaches based on position commands from higher levels. Reflex control is exerted in configuration space and assumes either inherent dynamic decoupling of the robot links or feedback decoupling. Implementation of acceleration-based reflex control for 3-D collision avoidance using a General Electric GP132 robot is described. Collision avoidance with respect to stationary obstacles is guaranteed. In addition, performance measurements illustrate how the reflexes introduce no significant distortion to higher-level controllers when reflex action is not required.{\textless}{\textless}ETX{\textgreater}{\textgreater}},
	booktitle = {, {IEEE} {International} {Conference} on {Robotics} and {Automation} {Proceedings}},
	author = {Newman, W. S. and Branicky, M. S.},
	month = may,
	year = {1990},
	keywords = {3D collision avoidance, Acceleration, Automatic control, Collision avoidance, Feedback, General Electric GP132 robot, Industrial control, Manipulator dynamics, Measurement, Orbital robotics, Robotics and automation, Service robots, acceleration-based reflex control, adaptive control, adaptive systems, automatic collision avoidance, configuration space, feedback decoupling, force control, industrial manipulators, industrial robots, inherent dynamic decoupling, real time obstacle avoidance, real-time systems, reflex control, robot links, stationary obstacles, torque control},
	pages = {266--271 vol.1}
}
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