Research on Obstacle Avoidance of Redundant Robots Based on Geometric Models

摘要：

The paper directs the mathematical models of the sphere and the column obstacles for a redundant robot, which can be looked on as a reference for other complex shaped obstacles. Based on the models, the performance criterion function of obstacle avoidance is presented in light of artificial potential field method. Subsequently, through optimizing the performance criterion the simulation of obstacle avoidance is studied. At last, the experiment of obstacle avoidance of a 7-DOF redundant robot is carried out, which verifies the validity of the built models.

作者: Yu Liu Bin Liang Kui Sun Yanshu Jiang

作者单位: Research Academy of Science and Technology Harbin Institute of Technology Shenzhen, Guangdong Provin School of Automation Harbin Science and Technology University Harbin, Heilongjiang Province,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 432-437

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）