한국농업기계학회:학술대회논문집 (Proceedings of the Korean Society for Agricultural Machinery Conference)
- 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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- Pages.638-647
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- 1996
Obstacle-avoidance Algorithm using Reference Joint-Velocity for Redundant Robot Manipulator with Fruit-Harvesting Applications
- Y.S. Ryuh (Department of Agricultural Engineering , Seoul National University) ;
- Ryu, K.H. (Department of Agricultural Engineering , Seoul National University)
- 발행 : 1996.06.01
초록
Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.