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). |
个性服务 |
查看访问统计 |
相关权益政策 |
暂无数据 |
收藏/分享 |
除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。
修改评论