A Redundant DOFs Manipulator Motion Obstacle Avoidance Algorithm

被引：0

作者：

Guan, X. Q. ^{[1
]}

Liang, G. H. ^{[2
]}

Niu, K. ^{[2
]}

Li, M. Q. ^{[3
]}

机构：

[1] Beijing Inst Technol, Sch Mech Engn, Beijing 100081, Peoples R China

[2] Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China

[3] Harbin Inst Technol, Dept Control Sci & Engn, Harbin, Heilongjiang, Peoples R China

来源：

INTERNATIONAL CONFERENCE ON AUTOMATION, MECHANICAL AND ELECTRICAL ENGINEERING (AMEE 2015) | 2015年

关键词：

redundant manipulator; multiple mobile-obstacle avoidance; minimum prediction distance; Jacobian transpose; gradient projection method;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The obstacle avoidance of redundant manipulator is one of research focuses in the field of industrial robots. In order to overcome the shortcomings of the previous obstacle avoidance algorithms, an obstacle avoidance algorithm applicable to multiple mobile-obstacles was proposed. The minimum prediction distance between obstacles and manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator. The escape velocity was introduced to gradient projection method to obtain the joint velocity of manipulator so as to complete the obstacle avoidance trajectory planning. A 7-DOF manipulator was used in the simulation, and the results verified the effectiveness of the algorithm.

引用

页码：242 / 250

页数：9

共 8 条

[1] [方承 Fang Cheng], 2010, [机械工程学报, Chinese Journal of Mechanical Engineering], V46, P30
[2] [姜力 Jiang Li], 2013, [光学精密工程, Optics and Precision Engineering], V21, P1795
[3] Maaroof O. W. N, 2012, SELF MOTION CONTROL, P56
[4] A collision-avoidance scheme for redundant manipulators: Theory and experiments
Patel, RV
Shadpey, R
Ranjbaran, F
Angeles, J
[J]. JOURNAL OF ROBOTIC SYSTEMS, 2005, 22 (12): : 737 - 757
[5] A SOLUTION ALGORITHM TO THE INVERSE KINEMATIC PROBLEM FOR REDUNDANT MANIPULATORS
SCIAVICCO, L
SICILIANO, B
[J]. IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1988, 4 (04): : 403 - 410
[6] Analytical Inverse Kinematic Computation for 7-DOF Redundant Manipulators With Joint Limits and Its Application to Redundancy Resolution
Shimizu, Masayuki
Kakuya, Hiromu
Yoon, Woo-Keun
Kitagaki, Kosei
Kosuge, Kazuhiro
[J]. IEEE TRANSACTIONS ON ROBOTICS, 2008, 24 (05) : 1131 - 1142
[7] Sun Lining, 2007, Chinese Journal of Mechanical Engineering, V43, P223, DOI 10.3901/JME.2007.05.223
[8] Toshani H, 2011, 2011 2 INT C IEEE U, P976

← 1 →