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Obstacle avoidance for redundant robots using configuration control
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Copyright Year | 1992 |
| Description | A redundant robot control scheme is provided for avoiding obstacles in a workspace during the motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance between is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance. |
| File Size | 575276 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19920023775 |
| Archival Resource Key | ark:/13960/t4fn6355n |
| Language | English |
| Publisher Date | 1992-09-22 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Algorithms Robot Control Obstacle Avoidance Configuration Management Stopping Critical Point End Effectors Trajectories Spheres Distance Robots Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
