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Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations
Zhu, X; Qiao, Hong
2003
发表期刊PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
卷号217期号:5页码:533-542
摘要
; Collision avoidance is an essential requirement for a manipulator to complete a task in an environment with obstacles. In this paper, a pseudo-distance function is presented for a pair of convex polyhedra, along with the algorithm for calculating its derivative. On this basis, a potential field-based approach for obstacle avoidance of kinematically redundant manipulators is developed, with the manipulator links and the environmental obstacles being geometrically modelled as a set of convex polyhedra. The potential function is differentiable almost everywhere with respect to the joint configuration variables of the manipulator. It is incorporated in the 'null space projection scheme' in order to achieve obstacle avoidance. Simulation examples are presented to show the effectiveness of the proposed method.
关键词Kinematically Redundant Manipulators Obstacle Avoidance Convex Polyhedra Pseudo-distance Repulsive Potential
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/12597
专题09年以前成果
通讯作者Zhu, X
作者单位Shanghai Jiao Tong Univ, Sch Mech Engn
推荐引用方式
GB/T 7714
Zhu, X,Qiao, Hong. Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations[J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,2003,217(5):533-542.
APA Zhu, X,&Qiao, Hong.(2003).Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations.PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE,217(5),533-542.
MLA Zhu, X,et al."Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations".PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 217.5(2003):533-542.
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