Use of Screw Theory in Proximity-based Control - Archive ouverte HAL
Communication Dans Un Congrès Année : 2023

Use of Screw Theory in Proximity-based Control

John Thomas
  • Fonction : Auteur
Sensor-based and interactive robotics
François Chaumette
Sensor-based and interactive robotics
CV

Résumé

In this short paper, we discuss the utility of screw theory in proximity-based control. In this scheme, a task function is defined based on the proximity signals, whose regulation obtains the appropriate robotic behavior. Screw theory can be used in modelling a multi-sensor arrangement of proximity sensors. Additionally, it can also be used in identifying the set of control directions that result in identical path in sensor-space while the task is being executed.

Domaines

Robotique [cs.RO]
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https://hal.science/hal-04121340

Soumis le : mercredi 7 juin 2023-16:47:37

Dernière modification le : mercredi 6 novembre 2024-12:52:02

Archivage à long terme le : vendredi 8 septembre 2023-19:40:40

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Dates et versions

hal-04121340 , version 1 (07-06-2023)

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  • HAL Id : hal-04121340 , version 1

Citer

John Thomas, François Chaumette. Use of Screw Theory in Proximity-based Control. ICRA workshop - "Geometric Representations: The Roles of Modern Screw Theory, Lie algebra, and Geometric Algebra in Robotics", May 2023, London, United Kingdom. pp.1-5. ⟨hal-04121340⟩

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