Title :
Robot collision avoidance control using distance computation
Author_Institution :
Dept. of Electr. Eng., Missouri Univ., Columbia, MO, USA
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;
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
DOI :
10.1109/ICSMC.1995.538168
