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language
eng
Author
Taniguchi, Takao
Description
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 thorough obstacle avoidance simulations and experiments.
Journal Title
Journal of Robotics
Volume
2013
Start Page
842717_1
End Page
842717_8
ISSN
16879600
Published Date
2013
DOI
DOI Date
2015-12-02
Publisher
Hindawi Publishing Corporation
NII Type
Journal Article
Format
PDF
Rights
© 2013 Masafumi Hamaguchi and Takao Taniguchi
Text Version
著者版
Gyoseki ID
e28209
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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