Redundancy Resolution of a 7 DOF Haptic Interface considering Collision and Singularity Avoidance

被引：6
|
作者：
Komoguchi, Yuta [1 ]
Yano, Ken'ichi [1 ]
Peer, Angelika [2 ]
Buss, Martin [2 ]
机构：
[1] Gifu Univ, Dept Human & Informat Syst, Yanagido 1-1, Gifu, Japan
[2] Tech Univ Munich, Inst Automat Control Engn, Munich, Germany
来源：
2008 IEEE/RSJ INTERNATIONAL CONFERENCE ON ROBOTS AND INTELLIGENT SYSTEMS, VOLS 1-3, CONFERENCE PROCEEDINGS | 2008年
关键词：
D O I：
10.1109/IROS.2008.4651076
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new redundancy resolution approach based on the gradient projection method, which allows to avoid man-machine and machine-machine collisions as well as singularities of a redundant haptic interface. On this account cost functions for singularity and collision avoidance are formulated. Hereby the collision avoidance cost function is derived from a kinematic analysis of the human arm. Appropriate weighting factors are used to guarantee a simultaneous optimization of all defined side criteria. The performance of the presented method is analyzed by simulation.
引用
收藏
页码：3513 / +
页数：2
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