Abstract
A real-time robot arm control method for obstacle avoidance is proposed. If links are close to and approaching obstacles, the end-effector velocity is modified so that collision is avoided and the error between the desired and modified end-effector velocity can be minimized. For this purpose, a new matrix called the 'collision Jacobian', which relates the approaching velocity of the links to the obstacles with the end-effector velocity, is proposed. Because the modified velocity can be calculated without an iterative algorithm, the proposed method is effective for real-time obstacle avoidance. This method is applied to collision avoidance between the links of a parallel arm.
| Original language | English |
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| Pages | 617-622 |
| Number of pages | 6 |
| Publication status | Published - 1999 |
| Externally published | Yes |
| Event | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' - Kyongju, South Korea Duration: 17 Oct 1999 → 21 Oct 1999 |
Conference
| Conference | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
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| City | Kyongju, South Korea |
| Period | 17/10/99 → 21/10/99 |