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Obstacle avoidance for kinematically redundant manipulators using polyhedral approximations
Zhu, X; Qiao, Hong
Source PublicationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
2003
Volume217Issue:5Pages:533-542
Abstract
; 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.
KeywordKinematically Redundant Manipulators Obstacle Avoidance Convex Polyhedra Pseudo-distance Repulsive Potential
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/12597
Collection09年以前成果
Corresponding AuthorZhu, X
AffiliationShanghai Jiao Tong Univ, Sch Mech Engn
Recommended Citation
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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