An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control
Joint Authors
Taniguchi, Takao
Hamaguchi, Masafumi
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-20
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper.
The manipulators are controlled with impedance control to follow user's motions.
7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy.
A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy.
The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators.
The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.
American Psychological Association (APA)
Hamaguchi, Masafumi& Taniguchi, Takao. 2013. An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control. Journal of Robotics،Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-502629
Modern Language Association (MLA)
Hamaguchi, Masafumi& Taniguchi, Takao. An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control. Journal of Robotics No. 2013 (2013), pp.1-8.
https://search.emarefa.net/detail/BIM-502629
American Medical Association (AMA)
Hamaguchi, Masafumi& Taniguchi, Takao. An Obstacle Avoidance Method for Action Support 7-DOF Manipulators Using Impedance Control. Journal of Robotics. 2013. Vol. 2013, no. 2013, pp.1-8.
https://search.emarefa.net/detail/BIM-502629
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-502629