Research on dynamic trajectory planning of collaborative robots base on RRT-RV Algorithm
文献类型：会议论文
| 作者 | Liu GD(刘国栋)1,2; Jiang Y(姜勇)1,2
|
| 出版日期 | 2018 |
| 会议日期 | December 14-16, 2018 |
| 会议地点 | Chongqing, China |
| 关键词 | dynamic trajectory planning collaborative robots RRT-RV method |
| 页码 | 1020-1023 |
| 英文摘要 | A novel aooroach of dynamic trajectory planning of collaborative robots is proposed. Firstly, the distances of human-robot are obtained through a new simple method by RGBD camera kinect. Then, the trajectory is generated by the proposed approach(RRT-RV), which improved the traditional RRT method by adding constraint factor as well as merging RV method. This method does not only consider static obstacles, but also takes dynamic obstacles into account. Moreover, simulation experiment is utilized to execute the new method and optimize parameters. Besides, further physical experiment is conducted by RGBD camera Kinect and UR5 robot to verify the feasibility and effectivity of the designed real-time collision avoidance algorithm. |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-5373-9 |
| WOS记录号 | WOS:000491408500201 |
| 源URL | [http://ir.sia.cn/handle/173321/25279]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 通讯作者 | Liu GD(刘国栋) |
| 作者单位 | 1.(State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.College of Information Science and Engineering, Northeastern University, China |
| 推荐引用方式 GB/T 7714 | Liu GD,Jiang Y. Research on dynamic trajectory planning of collaborative robots base on RRT-RV Algorithm[C]. 见:. Chongqing, China. December 14-16, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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