NDLI: Robot collision avoidance control using distance computation

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Robot collision avoidance control using distance computation

Content Provider	IEEE Xplore Digital Library
Author	Juang, J.-G.
Copyright Year	1995
Description	Author affiliation: Dept. of Electr. Eng., Missouri Univ., Columbia, MO, USA (Juang, J.-G.)
Abstract	Control of robot collision avoidance is studied. A repulsive force is artificially created using the distances between the robot links and obstacles which are generated by a distance computation algorithm. Control gains are selected w.r.t. the ranges of the angular velocity and angular acceleration of a PUMA 562 manipulator. In this paper, the computational time of the distance computation algorithm has been proved to be acceptable for robot collision avoidance applications. Two two-link robots are assumed in simulation. The control scheme is able to drive these robots to their destinations without collision.
Starting Page	2564
Ending Page	2569
File Size	428721
Page Count	6
File Format	PDF
ISBN	0780325591
DOI	10.1109/ICSMC.1995.538168
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-10-22
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Collision avoidance Robot control Robot kinematics Service robots Manipulators Computational modeling Computer industry Force control Angular velocity control Angular velocity
Content Type	Text
Resource Type	Article

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