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題名 | Analysis of Collision Avoidance for Planar Redundant Manipulators=多餘自由度平面機器臂碰撞迴避分析 |
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作者 | 林正堅; | 書刊名 | 南開學報 |
卷期 | 2 1997.06[民86.06] |
頁次 | 頁85+87-105 |
分類號 | 448.94 |
關鍵詞 | 多餘自由度機器臂; 碰撞迴避; Redundant manipulator; Collision avoidance; |
語文 | 英文(English) |
中文摘要 | 本論文討論多餘自由度平面機器臂於碰撞迴避運動之應用。由於機器臂在有障礙 物的工作空間中運動,會造成各軸運動之限制及自由度的減少,藉由引入多餘自由度,機器 臂可連續改變結構狀態而使其端點固定於工作空間中之一位置,此特性使的器臂對於碰撞迴 避的能力增強。為了便於分析機器臂與障礙物間的空間關係,我們建議採用各桿的方位角而 非各軸的旋轉角作為節結構參數。藉由三桿平面機器臂的運動結構,我們提出完整的分析模 式以決定工作空間中的碰撞迴避區域。本文的結果可做作為多餘自由度平面機器臂於包含障 礙物空間工作時之運動軌跡配置參考。 |
英文摘要 | This paper presents analysis of reachable workspaces for redundant man ipulation in the presence of obstacles. By taking advantage of the redundancy, a manipulator can continuously change its configuration so that the desired position of the end point is kept fixed. With this capability, the reachable workspace of a redundant manipulator is characterized based on the spatial relations between the links of the manipulator and a prescribed obstracle. A methodology for computing the collision-free region and obstructed region of the end point of a redundant manipulator is developed. To demonstrate the proposed m ethod, the analysis based on a 3R planar manipulator and a disk-like obstracle i s worked out in detail. Theresults of this paper can be applied to determine the layout of the manipulator tasks to prevent cdollisions between the links of the redundant manipulator and the obstracles. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。