Window-shaped obstacle avoidance for a redundant manipulator

Fan-Tien Cheng, Yu Der Lu, York Yin Sun

研究成果: Conference article

1 引文 斯高帕斯(Scopus)


The window-shaped obstacle avoidance problem is studied in this paper. Several research papers regarding obstacle avoidance including the method proposed by Zghal et al. which we believe is the most suitable for 3-D window-shaped obstacle avoidance were studied. Consequently, several shortcomings of the Zghal's method were discovered. The Zghal's method will produce a chattering problem due to its deficiency in determining the shortest distance between the manipulator links and the window edges. This paper proposes a new scheme to determine the shortest distance. This new scheme will remedy the chattering problem. Moreover, the Most Dangerous Link (MDL) method is developed to further improve the effectiveness and efficiency. Because the MDL method only considers the most dangerous link in the performance criterion, the on-line weighting assignment problem of the Zghal's method is removed, also, less redundancy is required to accomplish the goal for obstacle avoidance. Therefore, the MDL method will allow more redundancy to be useful for the other goals under multiple-goal application environments.

頁(從 - 到)556-561
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 1997 一月 1
事件Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
持續時間: 1997 四月 201997 四月 25


All Science Journal Classification (ASJC) codes

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