頁籤選單縮合
| 題 名 | A Potential-Based Path Planning Algorithm for Hyper-Redundant Manipulators |
|---|---|
| 作 者 | Lin, Chien-chou; Chuang, Jen-hui; | 書刊名 | 中國工程學刊 |
| 卷 期 | 33:3 2010.04[民99.04] |
| 頁 次 | 頁415-427 |
| 分類號 | 448.94 |
| 關鍵詞 | Manipulator path planning; Hyper-redundant manipulators; Motion planning; Potential field; |
| 語 文 | 英文(English) |
| 英文摘要 | Abstract A novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3-D workspace. The approach computes, similar to that done in electrostatics, repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path of a manipulator can then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using these force and torque. The proposed approach is efficient since these potential gradients are analytically tractable. Furthermore, the proposed algorithm is also extended to dual-arm systems. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance. |
本系統中英文摘要資訊取自各篇刊載內容。