REDUNDANT INVERSE KINEMATICS SYSTEM FOR OBSTACLES AVOIDANCE
Journal Title: RECENT - Year 2010, Vol 11, Issue 1
Abstract
In this paper the authors relate to the robotic systems to avoid the obstacles while positioning end-effectors. 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 strategy is based on the redundant inverse kinematics and leads to the favourable use of the abilities of redundant robots to avoid the collisions with obstacles. The effectiveness of the proposed method is discussed by theoretical considerations and illustrated by simulation of the motion of the four-joint planar manipulators between symmetric obstacles.
Authors and Affiliations
Aurel FRATU, Jean-François BRETHÉ, Mariana FRATU
Keywords
Related Articles
- EP ID EP155048
- DOI -
- Views 90
- Downloads 0
DEFINING THE LARSON-MILER PARAMETER FOR A NEW ALLOY STEEL
This article shows how the Larson-Miler parameter could be defined through tests and then used to prognosticate the time to rupture for materials, working for a long time at a constant load and elevated temperatures. The...
Software Tool Used for Holes Manufacturing Processes
The paper presents a software tool, developed in AutoCAD environment, used for manufacturing processes of holes. The holes are placed on solids with different configurations. The software tool is part of CAD/CAM system s...
Method for Quality Cost Production System Implementation
Today's competitive environment requires industrial companies to find solutions to survive and be profitable. Approaches such as Lean Six Sigma and World Class Manufacturing provide a set of techniques and tools which ar...
Optimizing the Work Centers Loading Level
This paper present a new approach for optimizing the loading level of the work centers in a manufacturing system or supply chain. The loading level problem is solved when the following information is available: how many...
Simulation of Pneumatic Directional Valve
There is well known the fact that to design and simulate a system there may be used two methods: mathematical modelling, using dynamics equation of the system, or using oriented software that includes predefined elements...