A Novel Division Based Self-Motion Algorithm for Avoiding Obstacles for Redundant Manipulators
It is proposed to introduce a novel division based selfmotion scheme for redundant joint manipulators to avoid obstacles in a static and known environment. The proposed scheme chooses an intuitionistic manifold of self-motion throughout the workspace. A review of the traditional research on self-motion manifolds for redundant manipulators is presented in this paper. And after an overview of the proposed approach, a comparison between the traditional techniques and this algorithm is made. A 9-DoF modular manipulator illustrates the methodology. Also, an experiment is carried out to verify the effectiveness of this scheme. Although discussed and illustrated mainly by a three degrees of redundancy, it is possible to extend this algorithm to lower or even higher degrees of redundancy.
Redundant manipulators Self-Motion Manifolds Division Method
Chengkun Zhang Hanxu Sun Qingxuan Jia Lei Hong
School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China
国际会议
2007 IEEE International Conference on Automation and Lofistics
山东济南
英文
2007-08-18（万方平台首次上网日期，不代表论文的发表时间）