Title :
Research on obstacle avoidance of redundant robots based on geometric models
Author :
Liu, Yu ; Liang, Bin ; Sun, Kui ; Jiang, Yanshu
Author_Institution :
Harbin Inst. of Technol., Res. Acad. of Sci. & Technol., Shenzhen
Abstract :
The paper directs the mathematical models of the sphere and the column obstacles for a redundant robot, which can be looked on as a reference for other complex shaped obstacles. Based on the models, the performance criterion function of obstacle avoidance is presented in light of artificial potential field method. Subsequently, through optimizing the performance criterion the simulation of obstacle avoidance is studied. At last, the experiment of obstacle avoidance of a 7-DOF redundant robot is carried out, which verifies the validity of the built models.
Keywords :
collision avoidance; mathematical analysis; 7-DOF redundant robot; artificial potential field method; complex shaped obstacles; geometric models; mathematical models; obstacle avoidance; performance criterion; performance criterion function; redundant robots; Capacitive sensors; Collision avoidance; Mathematical model; Paper technology; Path planning; Robot kinematics; Robot sensing systems; Robotics and automation; Service robots; Solid modeling;
Conference_Titel :
Systems and Control in Aerospace and Astronautics, 2008. ISSCAA 2008. 2nd International Symposium on
Conference_Location :
Shenzhen
Print_ISBN :
978-1-4244-3908-9
Electronic_ISBN :
978-1-4244-2386-6
DOI :
10.1109/ISSCAA.2008.4776217
