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ICRA
2002
IEEE

Extremal Distance Maintenance for Parametric Curves and Surfaces

14 years 3 months ago
Extremal Distance Maintenance for Parametric Curves and Surfaces
A new extremal distance tracking algorithm is presented for parametric curves and surfaces undergoing rigid body motion. The essentially geometric extremization problem is transformed into a dynamical control problem by differentiating with respect to time. Extremization is then solved with the design of a stabilizing controller. We use a feedback linearizing controller. The controller simultaneously accounts for the surface shape and motion while asymptotically achieving (and maintaining) the extremal pair. Thus collision detection takes place in a framework fully analogous to the framework used for the simulation of dynamical response.
Volkan Patoglu, R. Brent Gillespie
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Volkan Patoglu, R. Brent Gillespie
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