http://scholars.ntou.edu.tw/handle/123456789/18119| Title: | Robot Collision Avoidance Control Using Distance Computation | Authors: | Jih-Gau Juang | Keywords: | Collision avoidance;Robot control;Robot kinematics;Service robots;Manipulators;computational modeling;Computer industry;force control;Angular velocity control;Angular velocity | Issue Date: | 22-Oct-1995 | Publisher: | IEEE | Conference: | 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century Vancouver, BC, Canada |
Abstract: | Control of robot collision avoidance is studied. A repulsive force is artificially created using the distances between the robot links and obstacles which are generated by a distance computation algorithm. Control gains are selected w.r.t. the ranges of the angular velocity and angular acceleration of a PUMA 562 manipulator. In this paper, the computational time of the distance computation algorithm has been proved to be acceptable for robot collision avoidance applications. Two two-link robots are assumed in simulation. The control scheme is able to drive these robots to their destinations without collision. |
URI: | http://scholars.ntou.edu.tw/handle/123456789/18119 | ISBN: | 0-7803-2559-1 | DOI: | 10.1109/ICSMC.1995.538168 |
| Appears in Collections: | 通訊與導航工程學系 |
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