基于接近传感器的平面n连杆机械臂曲面跟踪与建模

Proceedings of the Third Annual Conference of AI, Simulation, and Planning in High Autonomy Systems 'Integrating Perception, Planning and Action'. Pub Date : 1992-07-08 DOI:10.1109/AIHAS.1992.636862

C. Pudney

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引用次数: 1

摘要

提出了一种具有接近传感器的平面n连杆关节机械臂的曲面跟踪算法和曲面建模技术。表面跟随算法沿着物体表面移动手臂，使手臂保持在物体表面的传感范围内，但不与物体表面发生碰撞。根据该运动过程中获得的传感器数据迭代构建曲面模型，并利用曲面跟随算法计算手臂运动的曲面跟随。

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Surface Following and Modelling for Planar N-Link Manipulator Arms Equipped with Proximity Sensors

This paper presents a surface following algorithm and a surface modelling technique for planar n-link articulated manipulator arms equipped with proximity sensors. The surface following algorithm moves the arm along the surface of an object i n such a way that the arm remains within sensing range of the surface but does not collide with it. The surface model is constructed iteratively f rom sensor data obtained during this motion, and is used by the surface following algorithm t o compute the surface following arm motions.

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Proceedings of the Third Annual Conference of AI, Simulation, and Planning in High Autonomy Systems 'Integrating Perception, Planning and Action'.

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