Research on method of self-operation for multi-joint robot based on the infrared sensor skin

被引：0
作者：
Cao, Zheng-Cai [1 ]
Fu, Yi-Li [2 ]
Wu, Qi-Di [1 ]
Wang, Shu-Guo [2 ]
Jin, Bao [2 ]
机构：
[1] CIMS Research Center, Tongji University
[2] Robotics Institute, Harbin Institute of Technology
来源：
| 2007年 / Science Press, 18,Shuangqing Street,Haidian, Beijing, 100085, China卷 / 33期
关键词：
Fuzzy logic; Motion planning; Multi-joint robot; Sensor skin;
D O I：
10.1360/aas-007-0664
中图分类号：
学科分类号：
摘要：
This paper researches the self-operation and realtime obstacle avoidance theory, technique and method for multi-joint robot in obstacle environments. The developed new infrared sensor skin is used to build a description of the robot's surroundings. The new robot motion planning approach, which uses the fuzzy logic method, is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The experimental result shows that the multi-joint robot can work autonomously in unknown or time-varying environments based on the developed infrared sensor skin and the proposed fuzzy motion control algorithm.
引用
收藏
页码：664 / 667
页数：3
相关论文
共 10 条
  • [1] Cao Z.-C., Research on the system of robotics sensitive skin based-on infrared sensors, (2005)
  • [2] Zavlangas P.G., Tzafestas S.G., Industrial robot navigation and obstacle avoidance employing fuzzy logic, Journal of Intelligent and Robotic Systems, 27, 1-2, pp. 85-97, (2000)
  • [3] Wang S.-G., Cao Z.-C., Fu Y.-L., Jin B., Research on the new robotics sensitive skin based on infrared sensor, Journal of Shanghai Jiaotong University, 39, 6, pp. 923-927, (2005)
  • [4] Cao Z.-C., Fu Y.-L., Wang S.-G., Signal processing system of the new robotics sensitive skin, Chinese Journal of Mechanical Engineering, 41, 5, pp. 21-25, (2005)
  • [5] Cheung E., Lumelsky V., Motion planning for a whole-sensitive robot arm manipulator, Proceedings of IEEE International Conference on Robotics and Automation, 1, pp. 344-349, (1990)
  • [6] Dngan U., Fault tolerance system for modularized sensitive skin, (1999)
  • [7] Cheung E., Lumelsky V., Development of sensitive skin for a 3D robot arm operating in an uncertain environment, Proceedings of IEEE International Conference on Robotics and Automation, pp. 1056-1061, (1989)
  • [8] Gerke M., Hoyer H., Fuzzy collision avoidance for industrial robots, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2, pp. 510-517, (1995)
  • [9] Fu Y.-L., Jin B., Wang S.-G., Cao Z.-C., Behavior-based robot fuzzy motion planning approach in unknown environment, Chinese Journal of Mechanical Engineering, 42, 5, pp. 120-125, (2006)
  • [10] Jin B., Fu Y.-L., Wang S.-G., Cao Z.-C., Robot fuzzy motion planning approach in unknown environments, Journal of Harbin Institute of Technology, 37, 10, pp. 1315-1317, (2005)
1