Potential-based path planning for robot manipulators in 3-D workspace

Chien Chou Lin*, Jen-Hui Chuang

*此作品的通信作者

研究成果: Conference article同行評審

8 引文 斯高帕斯(Scopus)

摘要

A novel collision avoidance algorithm is proposed to solve the path-planning problem of a high DoF robot manipulators in 3-D workspace. The algorithm is based on a generalized potential field model of 3-D workspace. The approach computes, similar to that done in electrostatics, repulsive force and torque between manipulator and obstacles using the workspace information directly. Using these force and torque, a collision-free path of a manipulator can be obtained by locally adjusting the manipulator configuration for minimum potential. The proposed approach is efficient since these potential gradients are analytically tractable. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance, for manipulators up to 6 links.

原文English
頁(從 - 到)3353-3358
頁數6
期刊Proceedings - IEEE International Conference on Robotics and Automation
3
DOIs
出版狀態Published - 9 12月 2003
事件2003 IEEE International Conference on Robotics and Automation - Taipei, Taiwan
持續時間: 14 9月 200319 9月 2003

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