Title: Passive velocity field control with discontinuous desired velocity fields: Non-smooth potential gradient vector field by locally semiconcave functions
Abstract:A wide variety of robot tasks cannot be achieved by a smooth velocity field. This paper considers discontinuous desired velocity fields that represent robot tasks. We propose passive velocity field co...A wide variety of robot tasks cannot be achieved by a smooth velocity field. This paper considers discontinuous desired velocity fields that represent robot tasks. We propose passive velocity field control (PVFC) with discontinuous desired velocity fields. The method deals with a discontinuous field produced by a generalized differential of a non-smooth potential function. The PVFC requires the calculation of a derivative of desired velocity fields. Therefore, we introduce a novel generalized differential of discontinuous vector fields, which is a second derivative of a non-smooth potential function. The simulation result illustrates that the proposed method achieves the same properties of the conventional PVFC, even though the desired velocity field is discontinuous.Read More
Publication Year: 2016
Publication Date: 2016-12-01
Language: en
Type: article
Indexed In: ['crossref']
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Cited By Count: 1
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