Research on Obstacle Avoidance of Redundant Robots Based on Geometric Models

被引：0
|
作者：
Liu, Yu [1 ]
Liang, Bin [1 ]
Sun, Kui [1 ]
Jiang, Yanshu [2 ]
机构：
[1] Harbin Inst Technol, Res Acad Sci & Technol, Shenzhen, Guangdong, Peoples R China
[2] Harbin Sci & Technol Univ, Sch Automat, Harbin, Peoples R China
来源：
2008 2ND INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1 AND 2 | 2008年
基金：
中国国家自然科学基金;
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper directs the mathematical models of the sphere and the column obstacles for a redundant robot, which can be looked on as a reference for other complex shaped obstacles. Based on the models, the performance criterion function of obstacle avoidance is presented in light of artificial potential field method. Subsequently, through optimizing the performance criterion the simulation of obstacle avoidance is studied. At last, the experiment of obstacle avoidance of a 7-DOF redundant robot is carried out, which verifies the validity of the built models.
引用
收藏
页码：452 / +
页数：2
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