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	Real-time collision avoidance for 7-DOF redundant anthropomorphic arm
	Dong Chun ; Yang Geng ; Xu Wenli
	2010-05-06 ; 2010-05-06
关键词	Practical/ collision avoidance electric fields force feedback redundant manipulators/ real-time collision avoidance 7-DOF redundant anthropomorphic arm tool-tip restrictions electric field decomposed virtual forces force feedback inverse kinematics robot technique redundant manipulator/ C3390C Mobile robots C3390M Manipulators C3120C Spatial variables control
中文摘要	A collision avoidance algorithm was developed for an anthropomorphic arm with tool-tip restrictions. The model assumes that the obstacles and the arm are charged, so that the arm in an electric field created by the obstacles would experience a virtual force. The virtual force is then decomposed into forces at the arm joints and a redundant joint is selected in real-time based on the decomposed virtual forces. Finally, force feedback on the joint is used for real-time collision avoidance. The approach implements collision avoidance without kinematics optimization and converts the arm into a nonredundant structure to directly calculate its inverse kinematics.
语种	中文 ; 中文
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/9486]
专题	清华大学
推荐引用方式 GB/T 7714	Dong Chun,Yang Geng,Xu Wenli. Real-time collision avoidance for 7-DOF redundant anthropomorphic arm[J],2010, 2010.
APA	Dong Chun,Yang Geng,&Xu Wenli.(2010).Real-time collision avoidance for 7-DOF redundant anthropomorphic arm..
MLA	Dong Chun,et al."Real-time collision avoidance for 7-DOF redundant anthropomorphic arm".(2010).

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