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Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance
Xing, Dengpeng1,2; Liu, Fangfang1,2; Liu, Song1,2,3; Xu, De1,2
Source PublicationIEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
2017-07-01
Volume64Issue:7Pages:5534-5544
SubtypeArticle
AbstractThis paper intends to use lower dimensional information to accurately compute higher dimensional distance, based on which presents a motion controller to avoid collision. This work is useful for precise computation and fast response required by motion control in microscope's view. We propose a projection method to use planar contours or even to transfer to a one-dimensional (1-D) searching problem to quickly obtain 3-D distance vector between cylindrical or cylinder enveloped objects, and as a result 11 cases are classified in total. Using distance as the basis of the repulsion force, we present a motion controller combining forces of attraction, repulsion, stuck, and detach to generate motion in the micro-operational space. Simulations and experiments are carried out to demonstrate their validity.
KeywordCollision Avoidance Dimensional Reduction Distance Computation
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIE.2017.2677350
WOS KeywordGENERALIZED DISTANCE ; EFFICIENT ALGORITHM ; ROBOT
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61305115 ; 61673382 ; 61227804 ; 61421004 ; 51405486)
WOS Research AreaAutomation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000403011200029
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/15126
Collection精密感知与控制研究中心_精密感知与控制
Affiliation1.Chinese Acad Sci, Inst Automat, Beijing 100864, Peoples R China
2.Univ Chinese Acad Sci, Sch Comp & Control Engn, Beijing 101408, Peoples R China
3.City Univ Hong Kong, Dept Mech & Biomed Engn, Coll Sci, Kowloon, Hong Kong, Peoples R China
Recommended Citation
GB/T 7714
Xing, Dengpeng,Liu, Fangfang,Liu, Song,et al. Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2017,64(7):5534-5544.
APA Xing, Dengpeng,Liu, Fangfang,Liu, Song,&Xu, De.(2017).Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,64(7),5534-5544.
MLA Xing, Dengpeng,et al."Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 64.7(2017):5534-5544.
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