Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-8049
Full metadata record
DC FieldValueLanguage
dc.contributor.authorDing, Hande
dc.contributor.authorSchiehlen, Wernerde
dc.date.accessioned2012-09-20de
dc.date.accessioned2016-03-31T11:45:01Z-
dc.date.available2012-09-20de
dc.date.available2016-03-31T11:45:01Z-
dc.date.issued1994de
dc.identifier.other372114288de
dc.identifier.urihttp://nbn-resolving.de/urn:nbn:de:bsz:93-opus-77424de
dc.identifier.urihttp://elib.uni-stuttgart.de/handle/11682/8066-
dc.identifier.urihttp://dx.doi.org/10.18419/opus-8049-
dc.description.abstractThis paper presents a method to solve the problem of obstacle avoidance for a redundant manipulator so that it closely tracks the desired end-effector trajectory and simultaneously avoids workspace obstacles. The proposed method introduces the describing function J to indicate whether collision occurs between the robot and obstacles. The obstacle avoidance task is achieved by formulating the performance criterion J > Jmin (Jmin represents the minimal distance between the redundant robot and obstacles), and by using configuration control to ensure that this criterion is satisfied. The calculation of J function is only related to some vertices which are used to generate and model the robot and obstacles, and the computational times are nearly linear with the total number of vertices. The configuration control algorithm which achieves end-effector motion and obstacle avoidance does not require either a complex dynamic model or complicated inverse kinematics transformations of the robot. Several simulation cases for a four-link planar manipulator are given to prove that the proposed collision-free trajectory planning scheme is efficient and practical.en
dc.language.isoende
dc.rightsinfo:eu-repo/semantics/openAccessde
dc.subject.classificationRoboter , Manipulator , Kollisionde
dc.subject.ddc620de
dc.titleOn controlling robots with redundancy in an environment with obstaclesen
dc.typeconferenceObjectde
ubs.fakultaetFakultätsübergreifend / Sonstige Einrichtungde
ubs.fakultaetFakultät Konstruktions-, Produktions- und Fahrzeugtechnikde
ubs.institutSonstige Einrichtungde
ubs.institutInstitut für Technische und Numerische Mechanikde
ubs.opusid7742de
ubs.publikation.sourceSciavicco, Lorenzo (Hrsg.): Preprints of the Fourth IFAC Symposium on Robot Control. 3. Capri : IFAC, 1994, S. 771-776de
ubs.publikation.typKonferenzbeitragde
Appears in Collections:15 Fakultätsübergreifend / Sonstige Einrichtung

Files in This Item:
File Description SizeFormat 
schi36.pdf1,2 MBAdobe PDFView/Open


Items in OPUS are protected by copyright, with all rights reserved, unless otherwise indicated.