A collision-free trajectory planning algorithm for manipulators in unstructured environment

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 工艺装备与智能机器人研究室

	A collision-free trajectory planning algorithm for manipulators in unstructured environment
	Hou ZL(侯赵磊)1,2,3; Jiang Y(姜勇)2,3; Wang H(王浩)2,3
	2019
会议日期	December 6-8, 2019
会议地点	Dali, China
关键词	Manipulator Trajectory planning Collisionfree Unstructured Environment
其他题名	A collision-free trajectory planning algorithm for manipulators in unstructured environment.pdf
页码	1059-1064
英文摘要	In this article, we propose a collision-free trajectory planning method for the manipulator that satisfies the robot's operational requirements in unstructured environment. The algorithm considers the collision-free trajectory requirements of the end effector and the manipulator body. The reactive trajectory planning algorithm in the local environment is used to superimpose the control quantity on the velocity layer, which avoids the mechanical dynamics model in the calculation process, Parameter acquisition and computational complexity issues. The method is simulated by MATLAB and further implemented on the UR manipulator. The simulation and experimental results show the real-time and effectiveness of the algorithm.
产权排序	1
会议录	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-6321-5
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26289]
专题	工艺装备与智能机器人研究室
通讯作者	Hou ZL(侯赵磊)
作者单位	1.Northeastern University, College of Information Science and Engineering, Shenyang, Liaoning Province, China 2.Institiues for Robotics and Intelligent Manufacuturing, Chinese Academy of Sciences, Shenyang, Liaoning Province, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
推荐引用方式 GB/T 7714	Hou ZL,Jiang Y,Wang H. A collision-free trajectory planning algorithm for manipulators in unstructured environment[C]. 见:. Dali, China. December 6-8, 2019.