Avoiding obstacle control for manipulators of the hot-line work robot

Author

Ansong, Feng ; Jian, Li ; Qinghui, Wang ; Lifeng, Wei

Author_Institution

Coll. of Inf. Eng., Shenyang Univ. of Chem. Technol., Shenyang, China

fYear

2011

fDate

15-17 April 2011

Firstpage

3044

Lastpage

3047

Abstract

With the society´s development, the demand for the stable power supply is more and more stringent and many countries are conducting research on the hot-line maintenance robots. In this paper, the research focused on the control of seven-degree manipulator of the hot-line maintenance robots is discussed. The kinematics analysis of the seven degree manipulator is proposed. An algorithm is presented to solve inverse mathematics based on obstacle avoidance. A simple method to compute the distance between obstacle and manipulator is presented.

Keywords

collision avoidance; industrial manipulators; inverse problems; maintenance engineering; manipulator kinematics; hot-line maintenance robots; hot-line work robot; inverse mathematics; kinematics analysis; obstacle avoidance; seven-degree manipulator; stable power supply; Algorithm design and analysis; Collision avoidance; Kinematics; Maintenance engineering; Manipulators; hot-line maintenance robots; obstacle avoidance; the seven degree manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Electric Information and Control Engineering (ICEICE), 2011 International Conference on

Conference_Location

Wuhan

Print_ISBN

978-1-4244-8036-4

Type

conf

DOI

10.1109/ICEICE.2011.5777732

Filename

5777732