Collision Avoidance Control Using Null Space Criteria
Journal Title: RECENT - Year 2012, Vol 13, Issue 34
Abstract
A new strategy to on-line collision-avoidance of the redundant robots with obstacles is presented. The strategy allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effectors trajectory. The effectiveness of the proposed strategy based on null space criteria is discussed by theoretical considerations. The strategy is based on the redundant inverse kinematics and leads to a favourable ability of redundant robots to avoid the collisions with obstacles. This strategy has the advantage that the configuration of the manipulator can be influenced by further requirements such as joint limits and so the self-collision is avoided.
Authors and Affiliations
Mariana FRATU, Aurel FRATU
Convergence of Sustainable Economic Development in European Union
This paper is especially focused on Romanian economic sustainable development case and represents a part of the author’s preoccupations: convergence inside European Union. The nature of current research is conceptual, me...
Mathematical Modeling and Research of Purpose Function for Relative Power Consumption per Unit Product in KID-300 Operation
This paper presents the creation of mathematical model of purpose function for relative power consumption per unit product at operation with cone inertial crusher type KID-300. There are presented the choice of governing...
Fuzzy-Neural Modules for Evaluation of Technological and Reliability Characteristics in Industrial Products
The present paper describes the development of a modular fuzzy-neural (FN) system, designated for practical application of fuzzy sets for determination of fuzzy membership functions. A NN-structure, possessing a back pro...
A Newton - Euler Approach to the Freely Suspended Load Swinging Problem
The present article is dedicated to the creation of a mathematical model for solving the problem of swinging of a freely suspended load, the pivot point of which moves along a known, spatial, time dependent or position d...
The Aspects of Influence of Technological Communication on Manufacturing Process Productivity inside new Manufacturing Information System
The article deals with influence of technological communication on manufacturing process productivity and with the possibilities of technological communication among companies in production chain regarding to the efficie...