Abstract
This paper proposes a method for planning the collision free trajectory of a manipulator. In this method, geometrical constraints to avoid obstacles are represented by restrictive potential functions. The dynamic equation of the manipulator is expressed by a path parameter 's' which is the generalized length along the path. The driving torque/force is improved by taking shorter travelling time and collision avoidance into considerations. Finally, the proposed method is applied to a manipulator with three links and is shown to be effective.
| Original language | English |
|---|---|
| Pages (from-to) | 3069-3074 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 1995 |
| Event | Proceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn Duration: May 21 1995 → May 27 1995 |
All Science Journal Classification (ASJC) codes
- Software
- Artificial Intelligence
- Electrical and Electronic Engineering
- Control and Systems Engineering