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Collision free trajectory planning for manipulator using potential function

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3 Author(s)
Mohri, Akira ; Fac. of Eng., Kyushu Univ., Fukuoka, Japan ; Xiang Dong Yang ; Yamamoto, M.

This paper proposes a method for planning the collision free trajectory of a manipulator. In this method, geometrical constraints to avoid obstacles are represented by restrictive potential functions. The dynamic equation of the manipulator is expressed by a path parameter `s' which is the generalized length along the path. The driving torque/force is improved by taking shorter travelling time and collision avoidance into considerations. Finally, the proposed method is applied to a manipulator with three links and is shown to be effective

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995