http://scholars.ntou.edu.tw/handle/123456789/18119| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Jih-Gau Juang | en_US |
| dc.date.accessioned | 2021-10-29T02:05:06Z | - |
| dc.date.available | 2021-10-29T02:05:06Z | - |
| dc.date.issued | 1995-10-22 | - |
| dc.identifier.isbn | 0-7803-2559-1 | - |
| dc.identifier.other | INSPEC Accession Number: 5132740 | - |
| dc.identifier.uri | http://scholars.ntou.edu.tw/handle/123456789/18119 | - |
| dc.description.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. | en_US |
| dc.language.iso | en | en_US |
| dc.publisher | IEEE | en_US |
| dc.subject | Collision avoidance | en_US |
| dc.subject | Robot control | en_US |
| dc.subject | Robot kinematics | en_US |
| dc.subject | Service robots | en_US |
| dc.subject | Manipulators | en_US |
| dc.subject | computational modeling | en_US |
| dc.subject | Computer industry | en_US |
| dc.subject | force control | en_US |
| dc.subject | Angular velocity control | en_US |
| dc.subject | Angular velocity | en_US |
| dc.title | Robot Collision Avoidance Control Using Distance Computation | en_US |
| dc.type | conference paper | en_US |
| dc.relation.conference | 1995 IEEE International Conference on Systems, Man and Cybernetics. Intelligent Systems for the 21st Century | en_US |
| dc.relation.conference | Vancouver, BC, Canada | en_US |
| dc.identifier.doi | 10.1109/ICSMC.1995.538168 | - |
| item.openairetype | conference paper | - |
| item.fulltext | no fulltext | - |
| item.openairecristype | http://purl.org/coar/resource_type/c_5794 | - |
| item.grantfulltext | none | - |
| item.cerifentitytype | Publications | - |
| item.languageiso639-1 | en | - |
| crisitem.author.dept | College of Electrical Engineering and Computer Science | - |
| crisitem.author.dept | Department of Communications, Navigation and Control Engineering | - |
| crisitem.author.dept | National Taiwan Ocean University,NTOU | - |
| crisitem.author.parentorg | National Taiwan Ocean University,NTOU | - |
| crisitem.author.parentorg | College of Electrical Engineering and Computer Science | - |
| Appears in Collections: | 通訊與導航工程學系 | |
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