Constraints identification in time-varying obstacle avoidance for mechanical manipulators

Lee, B.H.

doi:10.1109/21.24545

Cited by 12 publications

(8 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…• The mobile robot has its own velocity profile. 18 The maximum velocity and acceleration are designated in this profile. Equations (1) and (2) show these limits:…”

Section: Iia Basic Assumptionsmentioning

confidence: 99%

Analysis of robot collision characteristics using the concept of the collision map

Park

Lee

2005

Robotica

View full text Add to dashboard Cite

Robot collision characteristics are analyzed by using the idea of the collision map. This analysis consists of the translations of the collision region on the collision map and they correspond to parallel movements of the original robot path. These translations are investigated in several cases and applied to general situations in which two robots are moving or working in a common workspace. Also, the collision characteristics are analyzed for a few special situations where the analysis of collision characteristics is crucial and the resultant solution for collision avoidance can be obtained.

show abstract

“…• The mobile robot has its own velocity profile. 18 The maximum velocity and acceleration are designated in this profile. Equations (1) and (2) show these limits:…”

Section: Iia Basic Assumptionsmentioning

confidence: 99%

Analysis of robot collision characteristics using the concept of the collision map

Park

Lee

2005

Robotica

View full text Add to dashboard Cite

show abstract

“…Since the end velocities of the two arms must be equal as expressed in (19), letting x = 1 x = 2 x, equation 21is rewritten as below.…”

Section: Dual Arm Manipulability Ellipsoidmentioning

confidence: 99%

“…The basic problem of controlling multi-arm systems concerns the coordination of the robot arms. 1 " 19 The coordination problem can be divided into interchain coordination and intrachain coordination. 1 The intrachain coordination involves control of the individual joints of a chain to achieve the desired tip control, while the interchain coordination involves coordination among the several chains.…”

Section: Introductionmentioning

confidence: 99%

Optimal load distribution for two cooperating robots using a force ellipsoid

Choi

Lee

1993

Robotica

View full text Add to dashboard Cite

SUMMARYThe concept of the force ellipsoid and the manipulability ellipsoid of robotic mechanism is extended to two cooperating robot arms, and the equations of the dual arm force and manipulability ellipsoids are derived. The load distribution problem for two cooperating robots is studied using the concept of the force ellipsoid. The problem is usually underspecified mathematically and a variety of optimal solutions may exist. A new solution approach utilizing the force ellipsoid is proposed in this paper. The load distribution problem is formulated as a nonlinear optimization problem with a quadratic cost function and inequality constraints. The optimality criterion is the minimum energy, and two different cases are considered depending on the presence of the constraints on joint torques.

show abstract

“…Optimization techniques, which minimize a cost function subject to constraints, like the end-effector path tracking and obstacle avoidance, are not suitable for on-line applications (Nakamuro, 1991). The space-time and velocity adjusting methods are proposed in (Lee, 1989;Bagchi and Hatwal, 1992) on the problem of obstacle avoidance. Choi and Kim have used the sum of inverse of predicted collision distances between manipulator links and static obstacles to avoid collisions (2000).…”

Section: Introductionmentioning

confidence: 99%

Control of Redundant Manipulators in Non-Stationary Environments Using Neural Networks and Model Predictive Control

Jasour

Farrokhi

2010

IFAC Proceedings Volumes

View full text Add to dashboard Cite

Constraints identification in time-varying obstacle avoidance for mechanical manipulators

Cited by 12 publications

References 3 publications

Analysis of robot collision characteristics using the concept of the collision map

Analysis of robot collision characteristics using the concept of the collision map

Optimal load distribution for two cooperating robots using a force ellipsoid

Control of Redundant Manipulators in Non-Stationary Environments Using Neural Networks and Model Predictive Control

Contact Info

Product

Resources

About