• DocumentCode
    972442
  • Title

    Constraints identification in time-varying obstacle avoidance for mechanical manipulators

  • Author

    Lee, B.H.

  • Author_Institution
    Dept. of Control & Instrum. Eng., Seoul Nat. Univ., Kwanak-ku, Seoul, South Korea
  • Volume
    19
  • Issue
    1
  • fYear
    1989
  • Firstpage
    140
  • Lastpage
    143
  • 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;
  • fLanguage
    English
  • Journal_Title
    Systems, Man and Cybernetics, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9472
  • Type

    jour

  • DOI
    10.1109/21.24545
  • Filename
    24545
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=972442