대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
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여유자유도를 갖는 로보트 머니퓰레이터의 충돌회피

A Collision Avoidance Scheme for Redundant Robot Manipulators

  • 이재만 (부산대학교 공과대학 전기공학과) ;
  • 최영규 (부산대학교 공과대학 전기공학과) ;
  • 황창선 (부산대학교 공과대학 전기공학과)
  • Lee, Jae-Man (Department of Electrical Engineering Pusan National University) ;
  • Choi, Young-Kiu (Department of Electrical Engineering Pusan National University) ;
  • Hwang, Chang-Sun (Department of Electrical Engineering Pusan National University)
  • 발행 : 1991.11.22
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초록

This paper presents a collision avoidance scheme for redundant robot manipulators based on the Configuration Control Scheme. We set a center line through the free space. And we use the redundancy to put the robot links, around the center line as close as possible to avoid the collision with obstacles. Computer simulation shows the effectiveness of this approach.

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