SoC-based Design and Optimization of Robotic Arm Collision Avoidance Control System

被引：1

作者：

Sheng, Jiangcong ^{[1
]}

Chen, Yueyue ^{[1
]}

He, Dingxin ^{[1
]}

Gu, Qiang ^{[2
]}

Hu, Chunxu ^{[2
]}

机构：

[1] Huazhong Univ Sci & Technol, Sch Artificial Intelligence & Automat, Wuhan, Peoples R China

[2] PS Micro, Wuhan, Peoples R China

来源：

PROCEEDINGS OF 2020 IEEE 2ND INTERNATIONAL CONFERENCE ON CIVIL AVIATION SAFETY AND INFORMATION TECHNOLOGY (ICCASIT) | 2020年

基金：

中国国家自然科学基金;

关键词：

robotic arm; system-on-chip (SoC); motion planning; collision avoidance; probabilistic roadmap (PRM);

D O I：

10.1109/ICCASIT50869.2020.9368545

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

The research on robotic arm represents the development of mechatronics technology in recent years. This study presents a robotic arm control system based on system-on-chip (SoC). For the robotic collision avoidance control, this paper builds kinematic model for 6-degree-of-freedom (6-DOE) robotic arm and implement probabilistic roadmap (PRM) algorithm on the SoC. Furthermore, an optimized PRM is presented to improve motion path consistency by introducing a fixed nodes generating function. The experimental results are given to prove the efficiency of the robotic arm control system and the optimized PRM algorithm can improve the consistency of the motion path.

引用

页码：295 / 299

页数：5