Artificial potential method for control of constrained robot motion

Natalia V. Dounskaia

Research output: Contribution to journalArticlepeer-review

14 Scopus citations


The artificial potential method of constrained robot control is presented. The method does not imply knowledge of a detailed robot model and, nevertheless, makes it possible to drive a robot in the environment with obstacles of any shape and along a desired trajectory as well as to take into account constructive constraints. The method is based on the construction of an artificial potential that provides the absence of intermediate equilibriums in which the robot can be locked.

Original languageEnglish (US)
Pages (from-to)447-453
Number of pages7
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Issue number3
StatePublished - 1998
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Information Systems
  • Human-Computer Interaction
  • Computer Science Applications
  • Electrical and Electronic Engineering


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