摘要
In this paper, the Compact QP (Quadratic Programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. Moreover, the drift-free criterion is also considered when a redundant manipulator performs a repeated motion. Due to the computational efficiency and versatility of the Compact QP method, real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account. An example is given to demonstrate that this method is able to avoid the throat of a cavity, and to remedy the drift problem while a primary goal of the manipulators is carried out. Simulation results show that multiple goals can easily be fulfilled by the Compact QP method. The CPU times for a four-link planar redundant manipulator is less than 2 ms, and not more than 5 ms for six-link one. It is believed that the Compact QP method can be applied to solve the obstacle avoidance problem effectively and efficiently.
| 原文 | English |
|---|---|
| 主出版物標題 | Proceedings - IEEE International Conference on Robotics and Automation |
| 發行者 | Publ by IEEE |
| 頁面 | 262-269 |
| 頁數 | 8 |
| 卷 | 3 |
| ISBN（列印） | 0818634529 |
| 出版狀態 | Published - 1993 |
| 事件 | Proceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA 持續時間: 1993 五月 2 → 1993 五月 6 |
Other
| Other | Proceedings of the IEEE International Conference on Robotics and Automation |
|---|---|
| 城市 | Atlanta, GA, USA |
| 期間 | 93-05-02 → 93-05-06 |
指紋
All Science Journal Classification (ASJC) codes
- Software
- Control and Systems Engineering
引用此文
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Obstacle avoidance for redundant manipulators using the Compact QP method. / Cheng, Fan-Tien; Chen, Tsing Hua; Wang, Yuh Shyang; Sun, York Yih.
Proceedings - IEEE International Conference on Robotics and Automation. 卷 3 Publ by IEEE, 1993. p. 262-269.研究成果: Conference contribution
TY - GEN
T1 - Obstacle avoidance for redundant manipulators using the Compact QP method
AU - Cheng, Fan-Tien
AU - Chen, Tsing Hua
AU - Wang, Yuh Shyang
AU - Sun, York Yih
PY - 1993
Y1 - 1993
N2 - In this paper, the Compact QP (Quadratic Programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. Moreover, the drift-free criterion is also considered when a redundant manipulator performs a repeated motion. Due to the computational efficiency and versatility of the Compact QP method, real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account. An example is given to demonstrate that this method is able to avoid the throat of a cavity, and to remedy the drift problem while a primary goal of the manipulators is carried out. Simulation results show that multiple goals can easily be fulfilled by the Compact QP method. The CPU times for a four-link planar redundant manipulator is less than 2 ms, and not more than 5 ms for six-link one. It is believed that the Compact QP method can be applied to solve the obstacle avoidance problem effectively and efficiently.
AB - In this paper, the Compact QP (Quadratic Programming) method is proposed to resolve the obstacle avoidance problem for a redundant manipulator. Moreover, the drift-free criterion is also considered when a redundant manipulator performs a repeated motion. Due to the computational efficiency and versatility of the Compact QP method, real-time implementation is able to be achieved, and physical limitations such as joint rate bounds and joint angle limits can be easily taken into account. An example is given to demonstrate that this method is able to avoid the throat of a cavity, and to remedy the drift problem while a primary goal of the manipulators is carried out. Simulation results show that multiple goals can easily be fulfilled by the Compact QP method. The CPU times for a four-link planar redundant manipulator is less than 2 ms, and not more than 5 ms for six-link one. It is believed that the Compact QP method can be applied to solve the obstacle avoidance problem effectively and efficiently.
UR - http://www.scopus.com/inward/record.url?scp=0027277904&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027277904&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027277904
SN - 0818634529
VL - 3
SP - 262
EP - 269
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Publ by IEEE
ER -