基于避碰算法的轨迹实现

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201413

R. Kapela, A. Rybarczyk, M. Szulc

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引用次数: 1

摘要

本文介绍了三自由度拟人机械臂避碰问题的求解方法。该方法的新颖之处在于将三维空间分解为两个二维空间。该算法计算效率高，适合在实时系统中实现。对拟人机械臂进行了三维有障碍物操作仿真。

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Trajectory realization with collision avoidance algorithm

This paper describes the approach to collision avoidance problem for 3-DOF anthropomorphic robot manipulators. The novelty of the approach is the decomposition of 3D space to two 2D spaces. Resulting is the computationally efficient algorithm, suitable for implementation in the real-time systems. Simulation of the anthropomorphic manipulator operating in three dimensional space with obstacles is also presented.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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