Title :
Collision-free path planning of a telerobotic manipulator based on swept volume of teleoperated manipulator
Author :
Hasegawa, Tsutomu ; Nakagawa, Kousuke ; Murakami, Kouji
Author_Institution :
Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan
Abstract :
A new approach to collision-free path planning for a telerobotic manipulator is proposed. Using the swept volume of a slave manipulator teleoperated by a human operator, an online transition to autonomous tele-operation from master-slave manipulation is achieved without any geometric model of the environment. This feature enables a wider application to unstructured environments.
Keywords :
man-machine systems; manipulators; path planning; telerobotics; autonomous teleoperation; collision free path planning; human operator; master slave manipulation; online transition; swept volume; teleoperated manipulator; telerobotic manipulator; unstructured environment; Computer vision; Humans; Information science; Intelligent systems; Master-slave; Motion planning; Path planning; Solid modeling; Telerobotics; Virtual reality;
Conference_Titel :
Assembly and Task Planning, 2003. Proceedings of the IEEE International Symposium on
Print_ISBN :
0-7803-7770-2
DOI :
10.1109/ISATP.2003.1217221
