Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1991.11a
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- Pages.409-411
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- 1991
A Collision Avoidance Scheme for Redundant Robot Manipulators
여유자유도를 갖는 로보트 머니퓰레이터의 충돌회피
- Lee, Jae-Man (Department of Electrical Engineering Pusan National University) ;
- Choi, Young-Kiu (Department of Electrical Engineering Pusan National University) ;
- Hwang, Chang-Sun (Department of Electrical Engineering Pusan National University)
- Published : 1991.11.22
Abstract
This paper presents a collision avoidance scheme for redundant robot manipulators based on the Configuration Control Scheme. We set a center line through the free space. And we use the redundancy to put the robot links, around the center line as close as possible to avoid the collision with obstacles. Computer simulation shows the effectiveness of this approach.
Keywords