Obstacle avoidance of a redundant robot using virtual force field and null space projection

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Obstacle avoidance of a redundant robot using virtual force field and null space projection
	Ju ZJ(琚兆杰)2; Jiang, Yiming 3; Liu JG(刘金国)1 ; Yang, Chenguang 3
	2019
会议日期	August 8-11, 2019
会议地点	Shenyang, China
页码	728-739
英文摘要	This paper presents a novel algorithm for redundant robot control when obstacles are approaching to the robot. The proposed controller is constructed by a multi-hierarchy control framework where a main task controller is designed to track a given Cartesian space trajectory and an extra impedance controller is developed in the null space to guarantee compliant joint motion. A virtual force field is designed and applied on the robot body to achieve the goal of the avoidance of the obstacle. Simulation studies illustrated the proposed controller is not only to guarantee the task space control, but also able to avoid the obstacle by joint movements.
产权排序	3
会议录	Intelligent Robotics and Applications - 12th International Conference, ICIRA 2019, Proceedings
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-030-27525-9
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25510]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Yang, Chenguang
作者单位	1.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.School of Computing, University of Portsmouth, Portsmouth PO1 3HE, United Kingdom 3.College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China
推荐引用方式 GB/T 7714	Ju ZJ,Jiang, Yiming,Liu JG,et al. Obstacle avoidance of a redundant robot using virtual force field and null space projection[C]. 见:. Shenyang, China. August 8-11, 2019.