Trajectory realization with collision avoidance algorithm

Author

Kapela, R. ; Rybarczyk, A. ; Szulc, M.

Author_Institution

Comput. Sci. & Manage., Inst. of Control & Inf. Eng., Poznan, Poland

fYear

2005

fDate

23-25 June 2005

Firstpage

131

Lastpage

136

Abstract

This paper describes the approach to collision avoidance problem for 3-DOF anthropomorphic robot manipulators. The novelty of the approach is the decomposition of 3D space to two 2D spaces. Resulting is the computationally efficient algorithm, suitable for implementation in the real-time systems. Simulation of the anthropomorphic manipulator operating in three dimensional space with obstacles is also presented.

Keywords

collision avoidance; manipulator kinematics; real-time systems; 3-DOF anthropomorphic robot manipulators; 3D space decomposition; collision avoidance; obstacles; real-time systems; trajectory; Anthropomorphism; Artificial neural networks; Collision avoidance; Computational modeling; Engineering management; Manipulators; Orbital robotics; Path planning; Real time systems; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201413

Filename

1554392

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2721332