[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

Kuppan Chetty et al., 2012 - Google Patents

A heuristic approach towards path planning and obstacle avoidance control of planar manipulator

Kuppan Chetty et al., 2012

Document ID
12422363088836911618
Author
Kuppan Chetty R
Ponnambalam S
Publication year
Publication venue
International Conference on Intelligent Robotics, Automation, and Manufacturing

External Links

Snippet

This paper addresses the development and application of heuristic control strategy to plan collision free configurations of a 5 DOF planar robot manipulator, to position its end effector at the desired target with minimal error and convergence time, while avoiding the obstacles …
Continue reading at link.springer.com (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40053—Pick 3-D object from pile of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

Similar Documents

Publication Publication Date Title
Gong et al. Analytical inverse kinematics and self-motion application for 7-DOF redundant manipulator
Huang et al. Particle swarm optimization for solving the inverse kinematics of 7-DOF robotic manipulators
Kabir et al. Generation of synchronized configuration space trajectories of multi-robot systems
Chen et al. A virtual torque-based approach to kinematic control of redundant manipulators
CN107957684A (en) A kind of robot three-dimensional based on pseudo-velocity vector field is without touching method for planning track
Liu et al. Time-energy optimal trajectory planning for collaborative welding robot with multiple manipulators
Kim et al. Modified configuration control with potential field for inverse kinematic solution of redundant manipulator
Huang et al. Modeling and simulation of 6 dof robotic arm based on gazebo
Shah et al. Modelling and optimization of robotic manipulator mechanism for computed tomography guided medical procedure
Su et al. Motion planning and coordination for robot systems based on representation space
Zhang et al. Time-optimal and collision-free path planning for dual-manipulator 3D printer
Ata et al. COLLISION-FREE TRAJECTORY PLANNING FOR MANIPULATORS USING GENERALIZED PATTERN SEARCH.
Kuppan Chetty et al. A heuristic approach towards path planning and obstacle avoidance control of planar manipulator
Spencer et al. Collision avoidance techniques for tele-operated and autonomous manipulators in overlapping workspaces
Yang et al. Collision avoidance trajectory planning for a dual-robot system: using a modified APF method
Zhang et al. Inequality-based manipulator-obstacle avoidance using the LVI-based primal-dual neural network
Zhao et al. A cooperative obstacle-avoidance approach for two-manipulator based on A* algorithm
Banga Optimal Trajectory Planning Analysis of Robot Manipulator Using PSO
Petrenko et al. Cooperative Motion Planning Method for Two Anthropomorphic Manipulators
Wunderlich Simulating a robotic arm in a box: redundant kinematics, path planning, and rapid prototyping for enclosed spaces
Yang et al. An obstacle avoidance and trajectory tracking algorithm for redundant manipulator end
Guo et al. An analytical solution to inverse kinematics of seven degree-of-freedom redundant manipulator
Wu et al. Design and Implementation of Dynamic Motion Policy for Multi-Sensor Omnidirectional Mobile Arm Robot System in Human-Robot Coexisted Healthcare Workplace
Liu et al. Task Planning of Manipulator Based on Dynamic Space Constraint and Torque Sensor
Shaar et al. Intelligent Solution for Inverse Kinematic of Industrial Robotic Manipulator Based on RNN