Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations
文献类型：期刊论文
| 作者 | Zhu, X; Qiao, Hong
|
| 刊名 | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
 |
| 出版日期 | 2003 |
| 卷号 | 217期号:5页码:533-542 |
| 关键词 | kinematically redundant manipulators obstacle avoidance convex polyhedra pseudo-distance repulsive potential |
| 通讯作者 | Zhu, X |
| 中文摘要 | |
| 英文摘要 | Collision avoidance is an essential requirement for a manipulator to complete a task in an environment with obstacles. In this paper, a pseudo-distance function is presented for a pair of convex polyhedra, along with the algorithm for calculating its derivative. On this basis, a potential field-based approach for obstacle avoidance of kinematically redundant manipulators is developed, with the manipulator links and the environmental obstacles being geometrically modelled as a set of convex polyhedra. The potential function is differentiable almost everywhere with respect to the joint configuration variables of the manipulator. It is incorporated in the 'null space projection scheme' in order to achieve obstacle avoidance. Simulation examples are presented to show the effectiveness of the proposed method. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/12597]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | Shanghai Jiao Tong Univ, Sch Mech Engn |
| 推荐引用方式 GB/T 7714 | Zhu, X,Qiao, Hong. Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2003,217(5):533-542. |
| APA | Zhu, X,&Qiao, Hong.(2003).Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,217(5),533-542. |
| MLA | Zhu, X,et al."Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 217.5(2003):533-542. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。