Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations

	Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations
	Zhu, X; Qiao, Hong
刊名	PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
	2003
卷号	217 期号:5 页码:533-542
关键词	kinematically redundant manipulators obstacle avoidance convex polyhedra pseudo-distance repulsive potential
通讯作者	Zhu, X
中文摘要
英文摘要	Collision avoidance is an essential requirement for a manipulator to complete a task in an environment with obstacles. In this paper, a pseudo-distance function is presented for a pair of convex polyhedra, along with the algorithm for calculating its derivative. On this basis, a potential field-based approach for obstacle avoidance of kinematically redundant manipulators is developed, with the manipulator links and the environmental obstacles being geometrically modelled as a set of convex polyhedra. The potential function is differentiable almost everywhere with respect to the joint configuration variables of the manipulator. It is incorporated in the 'null space projection scheme' in order to achieve obstacle avoidance. Simulation examples are presented to show the effectiveness of the proposed method.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/12597]
专题	自动化研究所_09年以前成果
作者单位	Shanghai Jiao Tong Univ, Sch Mech Engn
推荐引用方式 GB/T 7714	Zhu, X,Qiao, Hong. Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2003,217(5):533-542.
APA	Zhu, X,&Qiao, Hong.(2003).Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,217(5),533-542.
MLA	Zhu, X,et al."Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 217.5(2003):533-542.