Multiple obstacles avoidance for kinematically redundant manipulators using jacobian transpose method

Proceedings of the SICE Annual Conference

Volumn , Issue , 2007, Pages 1070-1076

  Lee, Kwang Kyu ^a   Komoguchi, Yuta ^a   Buss, Martin ^a  

^a TECHNICAL UNIVERSITY OF MUNICH   (Germany)

Author keywords

Kinematic control; Obstacle avoidance; Redundant robots

Indexed keywords

GRADIENT METHODS; MANIPULATORS; NAVIGATION SYSTEMS;

ANNUAL CONFERENCE; COLLISION DETECTION ALGORITHM; CONTROL ENGINEERS; CONVENTIONAL METHODS; FOUR-DEGREES-OF-FREEDOM; GRADIENT PROJECTION METHODS; JACOBIAN; KINEMATIC CONTROL; MINIMUM DISTANCES; MULTIPLE OBSTACLES; NOVEL METHODS; OBSTACLE AVOIDANCE; PLANAR CONFIGURATIONS; PLANAR MANIPULATORS; REDUNDANT ROBOTS; SIMPLE ALGORITHMS; SIMULATION RESULTS;

COLLISION AVOIDANCE;

EID: 50249147380     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/SICE.2007.4421143     Document Type: Conference Paper

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