Robot collision avoidance control using distance computation

Author

Juang, Jih-Gau

Author_Institution

Dept. of Electr. Eng., Missouri Univ., Columbia, MO, USA

Volume

3

fYear

1995

fDate

22-25 Oct 1995

Firstpage

2564

Abstract

Control of robot collision avoidance is studied. A repulsive force is artificially created using the distances between the robot links and obstacles which are generated by a distance computation algorithm. Control gains are selected w.r.t. the ranges of the angular velocity and angular acceleration of a PUMA 562 manipulator. In this paper, the computational time of the distance computation algorithm has been proved to be acceptable for robot collision avoidance applications. Two two-link robots are assumed in simulation. The control scheme is able to drive these robots to their destinations without collision

Keywords

digital simulation; distance measurement; manipulators; motion control; path planning; PUMA 562 manipulator; angular acceleration; angular velocity; computational time; control gains; distance computation; repulsive force; robot collision avoidance; two-link robots; Angular velocity; Angular velocity control; Collision avoidance; Computational modeling; Computer industry; Force control; Manipulators; Robot control; Robot kinematics; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-2559-1

Type

conf

DOI

10.1109/ICSMC.1995.538168

Filename

538168