Chaos Control Algorithm for Redundant Robotic Obstacle Avoidance

نویسندگان

چکیده

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

An Obstacle Avoidance Algorithm for Hyper-Redundant Manipulators

Many tasks which manipulators must perform occur in the presence of obstacles. While a variety of algorithms for nonredundant and mildly redundant manipulators exist, little analysis has been performed for a class of robots with the most to offer in the area of obstacle avoidance: hyper-redundant manipulators. The term ‘nyper-redundant” refers to redundant manipulators with a very large, possib...

متن کامل

Control Algorithms for On-Line Obstacle Avoidance for Redundant Robots

The paper deals with on-line obstacle avoidance algorithms. We compare some obstacle avoidance strategies and group them into velocity and force strategies. The emphasis in the paper is given to the redundancy resolution and integration of these algorithms into the close-loop control. We address the problem of singular configurations and propose an algorithm based on artificial forces which avo...

متن کامل

Obstacle Avoidance for Redundant Manipulators as Control Problem

One of the goals of robotics research is to provide control algorithms that allow robotic manipulators to move in an environment with objects. The contacts with these objects may be part of the task, e.g. in the assembly operations, or they may be undesired events. If the task involves some contacts with the environment it is necessary to control the resulting forces. For that purpose, differen...

متن کامل

Obstacle Avoidance Control for Redundant Manipulators Utilizing the Contact Forces

The paper considers the behavior of redundant manipulators which collide with an obstacle and the obstacle avoidance after the collision. Without changing the motion of the end-effector, the reconfiguration of the manipulator into a collision-free configuration can be done only by utilizing the self-motion of the manipulator. In the paper some motion controllers are analyzed which minimize the ...

متن کامل

Obstacle avoidance control for redundant manipulators using collidability measure

We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are a...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Information Technology Journal

سال: 2013

ISSN: 1812-5638

DOI: 10.3923/itj.2013.704.711