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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40923

Title: Robot collision avoidance control using distance computation
Authors: Jih-Gau Juang
Contributors: 國立臺灣海洋大學:通訊與導航工程學系
Date: 1995
Issue Date: 2017-02-07T06:26:51Z
Publisher: Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Abstract: Abstract: Control of robot collision avoidance is studied. A repulsive force is artificially created using the distances between the robot links and obstacles which are generated by a distance computation algorithm. Control gains are selected w.r.t. the ranges of the angular velocity and angular acceleration of a PUMA 562 manipulator. In this paper, the computational time of the distance computation algorithm has been proved to be acceptable for robot collision avoidance applications. Two two-link robots are assumed in simulation. The control scheme is able to drive these robots to their destinations without collision.
URI: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/40923
Appears in Collections:[通訊與導航工程學系] 期刊論文

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