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Issue No.01 - January/February (1989 vol.9)
pp: 70-74
ABSTRACT
<p>A method for the collision avoidance of an articulated kinematic chain in a dynamic environment is presented. The inverse kinematic solution is used to get the configuration of the chain for a given position of any part of the chain. The calculation of collision-free motion is based on the local information about the motion. Intermediate positions are used to get the new motion path of the chain. The movement of environmental objects during the collision detection and the generation of new motions are considered. This generalizes the method for arbitrarily configured kinematic chains and for a dynamic environment. Its implementation for the motion planning of robot manipulators in an offline programming system is briefly described.</p>
CITATION
F. Dai, "Collision-Free Motion of an Articulated Kinematic Chain in a Dynamic Environment", IEEE Computer Graphics and Applications, vol.9, no. 1, pp. 70-74, January/February 1989, doi:10.1109/38.20335
REFERENCES
1. J.K. Myers and G.J. Agin, "A Supervisory Collision Avoidance System for Robot Controllers,"Proc. Robotics Research and Advanced Applications Symp., ASME, New York, 1982, pp. 225-232.
2. J. Denavit and R.S. Hartenberg, "A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices,"J. Applied Mechanics, Vol. 22 Trans. ASME, Vol. 77, June, 1955, pp. 215-221.
3. R.P. Paul,Robot Manipulators: Mathematics, Programming, and Control, MIT Press, Cambridge, Mass., 1981.
4. F. Dai, "On the Use of Numerical Methods for the Inverse Kinematics in Robot Simulation," Internal Rpt., FG Graphisch-Interaktive Systeme, Fachbereich Informatik, Technische Hochschule Darmstadt, 1986.
5. D.E. Whitney, "The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators,"Trans. ASME, J. Dynamic Systems, Measurement and Control, Vol. 122, Dec. 1982, pp. 303-309.
6. A. Ben-Israel and T.N.E. Grenville,Generalized Inverses: Theory and Applications, Wiley-Interscience, New York, 1974.
7. F. Dai and J.L. Encarnacao, "Graphical Interactive Robotics Core System for Supporting Flexible Robot Applications,Proc. Advances in CAD/CAM, Technical Univ. of Berlin, 1987, pp. 375-383.
8. S. Baierl,Collision Detection and Avoidance for Robot Motion, doctoral dissertation, Technical Univ. of Darmstadt, 1987.
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