A dynamic approach to real-time obstacle avoidance control of redundant manipulators

JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing

Volumn 39, Issue 2, 1996, Pages 317-322

  Ma, Shugen ^a   Hirose, Shigeo ^b  

^a IBARAKI UNIVERSITY   (Japan)

^b TOKYO INSTITUTE OF TECHNOLOGY   (Japan)

Author keywords

Manipulator; Obstacle Avoidance; Optimal Control; Real Time Control; Redundancy Decomposition Control; Robot

Indexed keywords

ACCELERATION; COLLISION AVOIDANCE; COMPUTER SIMULATION; DYNAMICS; MANIPULATORS; MATRIX ALGEBRA; OPTIMAL CONTROL SYSTEMS; PERFORMANCE; REDUNDANCY;

JACOBIAN MATRIX; REAL TIME OBSTACLE AVOIDANCE CONTROL; REDUNDANCY DECOMPOSITION CONTROL; REDUNDANT MANIPULATORS;

ROBOTICS;

EID: 0030165870     PISSN: 13447653     EISSN: None     Source Type: Journal    
DOI: 10.1299/jsmec1993.39.317     Document Type: Article

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