Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm
Joint Authors
Shen, Haoyu
Chen, Bai
Jiang, Yanjie
Yan, Cheng
Hongtao, Wu
Source
Journal of Control Science and Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-01-28
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented.
The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion.
Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks.
Using this approach, the robot can get the target configuration while avoiding the obstacles.
Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation.
The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.
American Psychological Association (APA)
Shen, Haoyu& Hongtao, Wu& Chen, Bai& Jiang, Yanjie& Yan, Cheng. 2015. Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm. Journal of Control Science and Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1067782
Modern Language Association (MLA)
Shen, Haoyu…[et al.]. Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm. Journal of Control Science and Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1067782
American Medical Association (AMA)
Shen, Haoyu& Hongtao, Wu& Chen, Bai& Jiang, Yanjie& Yan, Cheng. Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm. Journal of Control Science and Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1067782
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1067782