Potential field based position control for Mitsubishi RV-6S industrial robots
نویسنده
چکیده
Manipulator control based on the artificial potential fields method has been shown to be a good solution for real-time obstacle avoidance and navigation in complex, dynamic environments. This paper presents an implementation of this approach for a Mitsubishi RV-6S industrial robot with an emphasis on the use for obstacle avoidance. The robot is able to perform simple navigation tasks while avoiding to crash itself, its static environment or dynamic objects like a person entering its operating space.
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