한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2000년도 추계학술대회 논문집
- /
- Pages.691-694
- /
- 2000
- /
- 2005-8446(pISSN)
Vision System을 이용한 다관절 로봇팔의 장애물 우회에 관한 연구
A Study on the Obstacle Avoidance of a Multi-Link Robot System using Vision System
초록
In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.