A parallel collision-avoidance algorithm for robot manipulators

被引：7
作者：
Gill, MAC
Zomaya, AY
机构：
[1] Adept Elect Solut, Perth, WA, Australia
[2] Univ Western Australia, Dept Elect & Elect Engn, Parallel Comp Res Lab, Nedlands, WA 6907, Australia
来源：
IEEE CONCURRENCY | 1998年 / 6卷 / 01期
关键词：
D O I：
10.1109/4434.656781
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
The authors present a straightforward method to handle collision avoidance among multiple robot manipulators. The method allows manipulators to move from a specified starting point to a goal without colliding with any other manipulators or objects in their 3D environment. Potential fields guide the end-effector through Cartesian space, and parallel genetic algorithms calculate suitable joint Variables for the manipulator trajectory.
引用
收藏
页码：68 / +
页数：12
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