Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm
To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoi...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2015/540259 |
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| _version_ | 1849414282226171904 |
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| author | Haoyu Shen Hongtao Wu Bai Chen Yanjie Jiang Cheng Yan |
| author_facet | Haoyu Shen Hongtao Wu Bai Chen Yanjie Jiang Cheng Yan |
| author_sort | Haoyu Shen |
| collection | DOAJ |
| description | To deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach. |
| format | Article |
| id | doaj-art-73d6469f219b4d419f1d93dddcf61ee9 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-73d6469f219b4d419f1d93dddcf61ee92025-08-20T03:33:53ZengWileyJournal of Control Science and Engineering1687-52491687-52572015-01-01201510.1155/2015/540259540259Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic ArmHaoyu Shen0Hongtao Wu1Bai Chen2Yanjie Jiang3Cheng Yan4College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, ChinaCollege of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu 210016, ChinaTo deal with the problem of obstacle avoidance for redundant robots, an obstacle avoidance algorithm based on the internal motion of the 7-DOF redundant anthropomorphic arm is presented. The motion of that critical points move away from the closest points on the obstacles is defined as obstacle avoiding motion. Two transitioning variables were used to make a smooth, continuous transition between the primary and the secondary tasks. Using this approach, the robot can get the target configuration while avoiding the obstacles. Finally, the validity of the obstacle avoidance algorithm based on transitioning between tasks is manifested by simulation. The results show that, for the obstacle avoiding problem, the redundant robot not only can realize the obstacle avoidance, but also prevents the conflict between tasks by the proposed approach.http://dx.doi.org/10.1155/2015/540259 |
| spellingShingle | Haoyu Shen Hongtao Wu Bai Chen Yanjie Jiang Cheng Yan Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm Journal of Control Science and Engineering |
| title | Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm |
| title_full | Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm |
| title_fullStr | Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm |
| title_full_unstemmed | Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm |
| title_short | Obstacle Avoidance Algorithm for 7-DOF Redundant Anthropomorphic Arm |
| title_sort | obstacle avoidance algorithm for 7 dof redundant anthropomorphic arm |
| url | http://dx.doi.org/10.1155/2015/540259 |
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