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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Su Il Choi Byung Kook Kim |
| Copyright Year | 1999 |
| Description | Author affiliation: Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea (Su Il Choi) |
| Abstract | We present a measure called collidability measure for obstacle avoidance control of redundant manipulators. Considering moving directions of manipulator links, the collidability measure is defined as the inverse of sum of predicted collision distances between links and obstacles. This measure is suitable for obstacle avoidance control since directions of moving links are as important as distances to obstacles. For dynamic redundancy resolution, null space control is utilized to avoid obstacles by minimizing the collidability measure. Also, by clarifying decomposition in the joint acceleration level, we present a simple dynamic control law with bounded joint torques which guarantees tracking of a given end-effector trajectory and improves a kinematic cost function such as collidability measure. Simulation results are presented to illustrate the effectiveness of the proposed algorithm. |
| Starting Page | 1816 |
| Ending Page | 1821 |
| File Size | 473834 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780351843 |
| DOI | 10.1109/IROS.1999.811742 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1999-10-17 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Manipulators Kinematics Electric variables measurement Accelerometers Acceleration Torque control Trajectory Torque measurement Robots Orbital robotics |
| Content Type | Text |
| Resource Type | Article |
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