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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40821

Title: Repulsive Force Control Based on Distance Computation Algorithm
Authors: Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Keywords: Genetic algorithms
Repulsive force
Distance computation
Real-time control
Date: 2004
Issue Date: 2017-02-07T01:31:55Z
Publisher: Computers & Industrial Engineering
Abstract: Abstract: Computer-aided repulsive force control of collision avoidance is presented in this paper. A repulsive force is artificially created using the distances between the robot links and obstacles, which are generated by a simplified distance computation algorithm. This distance computation algorithm is based on the Gilbert-Johnson-Keerthi algorithm. Control gains in the repulsive force control model are selected based on traditional control design and genetic algorithms. Results on shortest distance computation and collision detection are presented. Real-time manipulator collision avoidance control has achieved. A repulsive force gain is introduced through the approaches for definition of link coordinate frames and kinematics computations. The safety distance between objects is affected by the repulsive force gain. Safety zone can be adjustable by the repulsive force gain which is selected by a specified fitness function of the genetic algorithm.
Relation: 47(1)
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40821
Appears in Collections:[通訊與導航工程學系] 期刊論文

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