Obstacle Avoidance for Manipulators
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Authors
Zhang, Wei
Sobh, Tarek M.
Issue Date
2003
Type
Article
Language
en_US
Keywords
Engineering , Robotics , Obstacle avoiding path planning , Manipulators , Link collision avoidance
Alternative Title
Abstract
This paper presents an obstacle avoidance approach for manipulators based on obstacle avoidance path planning mechanism. Although the obstacle dealt with in the paper is of cubic type, it can be transformed to the spherical type as showed in the paper, which has a simpler analytical description. The obstacle avoidance problem has been formulated in terms of collision avoidance of links rather than points. Link collision avoidance is achieved by continuously controlling the link closest point to the obstacle. For the robot SIR-1 which has an articulated chain, a link can be represented as the line segment defined by the Cartesian position of its two neighboring joints. We implement a simple obstacle avoidance path planning algorithm.
Description
Citation
W. Zhang, T. M. Sobh, "Obstacle Avoidance for Manipulators," System Analysis Model Simulation, vol. 43, no. 1, 2003.
Publisher
Taylor & Francis
License
Journal
Volume
Issue
PubMed ID
DOI
ISSN
0232-9298