Application of potential field theory in 6-DOF robotic arm contorl space

• Main Author: Sta. Agueda, Joseph Rey Hernandez
• Format: text
• Language: English
• Published: Animo Repository 2012
• Subjects: Robotics; Manufacturing; Operations Research, Systems Engineering and Industrial Engineering
• Online Access: https://animorepository.dlsu.edu.ph/etd_masteral/4127; https://animorepository.dlsu.edu.ph/context/etd_masteral/article/10965/viewcontent/CDTG005129_P.pdf
• Institution: De La Salle University

In the book Introduction to Robotics Mechanics and Control, John J. Craig states that the study of robotics concerns itself with the desire to synthesize some aspects of human function by the use of mechanisms, sensors, actuators, and computers. [1] but then again, it is hardly easy to emulate even the most basic human activities using robots. Take the motion of the human arm for example. The mere fact that we are able to move our arm through space whilst taking into account the multitude of obstacles present obstructing our path of motion is already a great achievement. Researchers have toiled to emulate different factors that make such feats possible, be it improving control design to make robot movement smoother [2], making it possible for a robot to avoid obstacles [3], or simply making the movements more human-like [4]. Technology is bound to improve and perhaps more aspects of human movement can be considered when designing and creating robots. This research aims to revisit many of the available control approaches and to provide a sequence of processes that improves the movement of a 6-DOF robotic arm.