Research on method of self-operation for multi-joint robot based on the infrared sensor skin

被引：0

作者：

Cao, Zheng-Cai ^{[1
]}

Fu, Yi-Li ^{[2
]}

Wu, Qi-Di ^{[1
]}

Wang, Shu-Guo ^{[2
]}

Jin, Bao ^{[2
]}

机构：

[1] CIMS Research Center, Tongji University, Shanghai 200092, China

[2] Robotics Institute, Harbin Institute of Technology, Harbin 150001, China

来源：

| 2007年 / Science Press, 18,Shuangqing Street,Haidian, Beijing, 100085, China卷 / 33期

关键词：

Collision avoidance - Fuzzy logic - Motion control - Robots - Sensors - Skin;

D O I：

10.1360/aas-007-0664

中图分类号：

学科分类号：

摘要：

This paper researches the self-operation and realtime obstacle avoidance theory, technique and method for multi-joint robot in obstacle environments. The developed new infrared sensor skin is used to build a description of the robot's surroundings. The new robot motion planning approach, which uses the fuzzy logic method, is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The experimental result shows that the multi-joint robot can work autonomously in unknown or time-varying environments based on the developed infrared sensor skin and the proposed fuzzy motion control algorithm.

引用

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