An Automatic Collision Avoidance Approach for Remote Control of Redundant Manipulator

摘要：

In this paper,a modeling,planning and remote control of a redundant manipulator for a semi-structured under vehicle environment is investigated..The geometric characteristic is abstracted by the distance laser sensory information and collision danger is measured in real time to activate the self-motion of reshaping the configuration.To make a real time solution,a intuitive collision avoidance method is presented for planar manipulator.Incorporating the algorithm with the supervisory control framework,a dynamic trajectory planning algorithm is presented for rapidness requirement of bomb disposal tasks.The simulation and experiments prove the effectiveness of presented method.

关键词： Remote Control Redundant manipulator Collision avoidance Configuration control

作者: Weijun Zhang Jianjun Yuan Qiang Li Zhixia Tang

作者单位: Research Institute of Robotics Shanghai Jiao Tong University 800 Dongchuan Road, Shanghai, 200240, C Henan Administration College Zhengzhou, 450003, China

会议类型: 国际会议

会议名称: 2008 IEEE International Conference on Onformation and Automation(IEEE 信息与自动化国际会议)

会议地点: 张家界

会议语种:英文

页码: 809-814

在线出版日期: 2008-06-20（万方平台首次上网日期，不代表论文的发表时间）