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An On-Line Path Planner for Industrial Manipulators : Un pianificatore di traiettoria on-line per manipolatori industriali, in: International Journal of Advanced Robotic Systems
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Autore Padula, Fabrizio; Perdereau, Veronique
Pubblicato  InTech Open Access Publisher, 2013
edizione  
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Abstract In this paper, an on‐line path planner for an
industrial manipulator is presented. The proposed
control architecture is capable of driving the manipulator
in its environment while avoiding collisions. Potential
fields are used in order to control the joint velocities in
such a way that the robot avoids the obstacles. We also
propose a new weighted pseudoinverse matrix that
improves the manipulator capability of finding feasible
paths to move around obstacles and pass through narrow
corridors without relying on the manipulator dynamic
model. The proposed technique fits to both redundant
and non‐redundant manipulators. Experimental results
show the effectiveness of the proposed solution.
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Articoli a Rivista
2000 ed oltre
Superordinate work
 
no fulltext found International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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Documents: International Journal of Advanced Robotic Systems
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DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=31937009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_31937009.html
PDF FaviconPDF  An On-Line Path Planner for Industrial Manipulators
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UCAUniv. Cassino  http://webuser.unicas.it/weblarm/larmindex.htm
Administrative information
Time of publication 2013
License information Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License

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