Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance

doi:10.1109/TIE.2017.2677350

CASIA OpenIR > 中国科学院工业视觉智能装备工程实验室 > 精密感知与控制

	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
发表期刊	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2017-07-01
卷号	64 期号:7 页码:5534-5544
文章类型	Article
摘要	This 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.
关键词	Collision Avoidance Dimensional Reduction Distance Computation
WOS标题词	Science & Technology ; Technology
DOI	10.1109/TIE.2017.2677350
关键词[WOS]	GENERALIZED DISTANCE ; EFFICIENT ALGORITHM ; ROBOT
收录类别	SCI
语种	英语
项目资助者	National Natural Science Foundation of China(61305115 ; 61673382 ; 61227804 ; 61421004 ; 51405486)
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
WOS类目	Automation & Control Systems ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000403011200029
引用统计	被引频次：4[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/15126
专题	中国科学院工业视觉智能装备工程实验室_精密感知与控制
作者单位	1.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
第一作者单位	中国科学院自动化研究所
推荐引用方式 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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
TIE17-2.pdf（1284KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览