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

共 50 条

[21] Global Fuzzy Sliding Mode Control for Multi-joint Robot Manipulators Based on Backstepping
Shao, Keyong
Ma, Qianhui
FOUNDATIONS OF INTELLIGENT SYSTEMS (ISKE 2013), 2014, 277 : 995 - 1004
[22] Sliding mode control scheme for a jumping robot with multi-joint based on floating basis
Yao Jianjun
Di Duotao
Gao Shuang
He Lei
Hu Shenghai
INTERNATIONAL JOURNAL OF CONTROL, 2012, 85 (01) : 41 - 49
[23] Robot arm control based on human multi-joint arm viscoelasiticity and operator theory
Kubota, Shotaro
Deng, Mingcong
Noge, Yuichi
2018 INTERNATIONAL CONFERENCE ON ADVANCED MECHATRONIC SYSTEMS (ICAMECHS), 2018, : 132 - 136
[24] EMG-based multi-joint kinematics decoding for robot-aided rehabilitation therapies
Sarasota-Sanz, Andrea
Irastorza-Landa, Nerea
Shiman, Farid
Lopez-Larraz, Eduardo
Spueler, Martin
Birbaumer, Niels
Ramos-Murguialday, Ander
PROCEEDINGS OF THE IEEE/RAS-EMBS INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS (ICORR 2015), 2015, : 229 - 234
[25] Design of Coal mine Multi-joint Snake-like Rescue Robot Based on ARM
Li, Hongyan
Hou, Yuanbin
Proceedings of the 2016 6th International Conference on Applied Science, Engineering and Technology (ICASET), 2016, 77 : 107 - 112
[26] Control System based on Pressure Distribution for Wearable Assist Robot on Multi-Joint Body Part
Uchiyama, Naoya
Funahora, Yuki
Doki, Shinji
Doki, Kae
2016 14TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION, ROBOTICS AND VISION (ICARCV), 2016,
[27] Arithmetic for Multi-joint Redundant Robot Inverse Kinematics Based on the Bayesian - BP Neural Network
Zhou Youhang
Tang Wenzhuang
Zhang Jianxun
International Conference on Intelligent Computation Technology and Automation, Vol 1, Proceedings, 2008, : 173 - 178
[28] Impedance Control based on Pressure Distribution for Wearable Assist Robot on Multi-joint Body Part
Uchiyama, Naoya
Funabora, Yuki
Doki, Shinji
Doki, Kae
PROCEEDINGS 5TH IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (ICCSCE 2015), 2015, : 48 - 53
[29] Resonance-based Motion Control Method for Multi-Joint Robot through Combining Stiffness Adaptation and Iterative Learning Control
Uemura, Mitsunori
Kawamura, Sadao
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7, 2009, : 3398 - 3403
[30] Multi-sensor fusion based wheeled robot research on indoor positioning method
Teng, Xiao
Shen, Zhenjiang
Huang, Lin
Li, Hui
Li, Wankai
RESULTS IN ENGINEERING, 2024, 22

← 1 2 3 4 5 →