A Study on the Obstacle Avoidance of a Multi-Link Robot System using Vision System

Vision System을 이용한 다관절 로봇팔의 장애물 우회에 관한 연구

In this paper, a motion control algorithm is proposed by using neural network system, which makes a robot arm successfully avoid unexpected obstacle when the robot is moving from the start to the goal position. During the motion, if there is an obstacle the vision system recognizes it. And in every time the optimization-algorithm quickly chooses a motion among the possible motions of robot. The proposed algorithm has a good avoidance characteristic in simulation.