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.
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