Collision free trajectory planning for manipulator using potential function

Akira Mohri, Xiang Dong Yang, Motoji Yamamoto

Research output: Contribution to journalConference articlepeer-review

16 Citations (Scopus)

Abstract

This paper proposes a method for planning the collision free trajectory of a manipulator. In this method, geometrical constraints to avoid obstacles are represented by restrictive potential functions. The dynamic equation of the manipulator is expressed by a path parameter 's' which is the generalized length along the path. The driving torque/force is improved by taking shorter travelling time and collision avoidance into considerations. Finally, the proposed method is applied to a manipulator with three links and is shown to be effective.

Original languageEnglish
Pages (from-to)3069-3074
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - Jan 1 1995
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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