Title :
Constraints identification in time-varying obstacle avoidance for mechanical manipulators
Author_Institution :
Dept. of Control & Instrum. Eng., Seoul Nat. Univ., Kwanak-ku, Seoul, South Korea
Abstract :
The time-varying obstacle avoidance problem is considered mathematically. The manipulator motion is described in terms of constrained motions, which are classified into two categories: the environmental constraints and the manipulator constraints. The constraints are converted into the reachable path segment at each servo time instant to verify the existence of a collision-free trajectory
Keywords :
position control; robots; time-varying systems; collision avoidance; collision-free trajectory; environmental constraints; manipulator constraints; mechanical manipulators; reachable path segment; time-varying obstacle avoidance; Arm; Collision avoidance; Databases; Instruments; Manipulators; Orbital robotics; Path planning; Robots; Servomechanisms; Time factors;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
