An on-line path planner for industrial manipulators
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 avo...
| Main Authors: | , |
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| Format: | Journal Article |
| Published: |
ARS
2013
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| Online Access: | http://hdl.handle.net/20.500.11937/52429 |
| _version_ | 1848758924113608704 |
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| author | Padula, Fabrizio Perdereau, V. |
| author_facet | Padula, Fabrizio Perdereau, V. |
| author_sort | Padula, Fabrizio |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | 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. © 2013 Padula and Perdereau; licensee InTech. |
| first_indexed | 2025-11-14T09:51:43Z |
| format | Journal Article |
| id | curtin-20.500.11937-52429 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:51:43Z |
| publishDate | 2013 |
| publisher | ARS |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-524292023-02-22T06:24:19Z An on-line path planner for industrial manipulators Padula, Fabrizio Perdereau, V. 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. © 2013 Padula and Perdereau; licensee InTech. 2013 Journal Article http://hdl.handle.net/20.500.11937/52429 10.5772/55063 ARS unknown |
| spellingShingle | Padula, Fabrizio Perdereau, V. An on-line path planner for industrial manipulators |
| title | An on-line path planner for industrial manipulators |
| title_full | An on-line path planner for industrial manipulators |
| title_fullStr | An on-line path planner for industrial manipulators |
| title_full_unstemmed | An on-line path planner for industrial manipulators |
| title_short | An on-line path planner for industrial manipulators |
| title_sort | on-line path planner for industrial manipulators |
| url | http://hdl.handle.net/20.500.11937/52429 |