摘要
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.
| 源语言 | 英语 |
|---|---|
| 页 | 617-622 |
| 页数 | 6 |
| 出版状态 | 已出版 - 1999 |
| 已对外发布 | 是 |
| 活动 | 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 期限: 17 10月 1999 → 21 10月 1999 |
会议
| 会议 | 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'99): Human and Environment Friendly Robots whith High Intelligence and Emotional Quotients' |
|---|---|
| 市 | Kyongju, South Korea |
| 时期 | 17/10/99 → 21/10/99 |
指纹
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Kaneko, H., Arai, T., Inoue, K., & Mae, Y. (1999). Real-time obstacle avoidance for robot arm using collision Jacobian. 617-622. 论文发表于 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.