[go: up one dir, main page]

Fratu et al., 2010 - Google Patents

Using the redundant inverse kinematics system for collision avoidance

Fratu et al., 2010

Document ID
5181059579200440363
Author
Fratu A
Vermeiren L
Dequidt A
Publication year
Publication venue
2010 3rd International Symposium on Electrical and Electronics Engineering (ISEEE)

External Links

Snippet

The present paper relates to the operation of robotic systems to avoid obstacles while positioning end-effectors. A new strategy to on-line collision-avoidance of the redundant robots with obstacles is presented. The strategy allows the use of redundant degrees of …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50109—Soft approach, engage, retract, escape, withdraw path for tool to workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/50—Computer-aided design
    • G06F17/5086—Mechanical design, e.g. parametric or variational design
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING; COUNTING
    • G06F—ELECTRICAL DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/50—Computer-aided design
    • G06F17/5009—Computer-aided design using simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators

Similar Documents

Publication Publication Date Title
Ananthanarayanan et al. Real-time Inverse Kinematics of (2n+ 1) DOF hyper-redundant manipulator arm via a combined numerical and analytical approach
Nakanishi et al. Operational space control: A theoretical and empirical comparison
Khatib et al. Human-centered robotics and interactive haptic simulation
Merlet et al. Parallel mechanisms
Yoshida et al. Simulation-based optimal motion planning for deformable object
Chung et al. Contact-consistent elastic strips for multi-contact locomotion planning of humanoid robots
Decré et al. Extending the iTaSC constraint-based robot task specification framework to time-independent trajectories and user-configurable task horizons
Yang et al. Robot kinematics and dynamics modeling
Sentis et al. Prioritized multi-objective dynamics and control of robots in human environments
Pelliccia et al. Task-based motion control of digital humans for industrial applications
Le Boudec et al. Modeling and adaptive control of redundant robots
Fratu et al. Using the redundant inverse kinematics system for collision avoidance
Liu et al. Interactive virtual humans: A two-level prioritized control framework with wrench bounds
Oña et al. Adaptive non-linear control for a virtual 3d manipulator
Saeed et al. Spline-based trajectory generation to estimate execution time in a robotic assembly cell
Pajak et al. Planning of a point to point collision-free trajectory for mobile manipulators
Sugiura et al. Reactive self collision avoidance with dynamic task prioritization for humanoid robots
Lee et al. Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios
Grupen et al. Manipulability-based spatial isotropy: A kinematic re ex
FRATU et al. Redundant inverse kinematics system for obstacles avoidance
Yamane et al. Dynamics simulation of humanoid robots: Forward dynamics, contact, and experiments
Fratu et al. Robots collision avoidance using learning through imitation
Tuli et al. Path planning for simulating human motions in manual assembly operations
Pott Kinematic Codes
Scarcia et al. Local online planning of coordinated manipulation motion