NDLI: Window-shaped obstacle avoidance for a redundant manipulator

Content Provider	IEEE Xplore Digital Library
Author	Fan-Tien Cheng Yu-Der Lu York-Yin Sun
Copyright Year	1997
Description	Author affiliation: Inst. of Manuf. Eng., Nat. Cheng Kung Univ., Tainan, Taiwan (Fan-Tien Cheng)
Abstract	The window-shaped obstacle avoidance problem is studied in this paper. Several research papers regarding obstacle avoidance including the method proposed by Zghal et al. (1992), which we believe is the most suitable for 3D window-shaped obstacle avoidance were studied. Consequently, several short-comings of the Zghal's method were discovered. The Zghal's method will produce a chattering problem due to its deficiency in determining the shortest distance between the manipulator links and the window edges. This paper proposes a new scheme to determine the shortest distance. This new scheme will remedy the chattering problem. Moreover, the most dangerous link (MDL) method is developed to further improve the effectiveness and efficiency. Because the MDL method only considers the most dangerous link in the performance criterion, the online weighting assignment problem of the Zghal's method is removed, also, less redundancy is required to accomplish the goal for obstacle avoidance. Therefore, the MDL method will allow more redundancy to be useful for the other goals under multiple-goal application environments.
Starting Page	556
Ending Page	561
File Size	674729
Page Count	6
File Format	PDF
ISBN	0780336127
DOI	10.1109/ROBOT.1997.620095
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Quadratic programming Orbital robotics Space stations Kinematics Manufacturing Motion control Councils Contracts Sun
Content Type	Text
Resource Type	Article

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