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双臂SCARATES机器人实时无碰撞运动规划 被引量：2

Real-Time Collision-Free Motion Plan of the Dual-Arm SCARATES Robot
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摘要 以双臂SCARATES机器人为研究对象,基于可达流形和接触流形建立了双臂机器人C空间障碍物边界,并通过对障碍物边界的离散以及对路径搜索算法的选择,提出并仿真实现了双臂机器人实时无碰撞运动规划算法. This paper constructed the dual-arm robot C-space obstacle boundary based on the reachable manifold and contact manifold. And it then presented and simulated successfully the algorithm of the dual-arm robot real-time collision-free motion plan by the obstacle boundary discretization and the searching algorithm.
作者 丁富强 费燕琼 韩卫军 赵锡芳
机构地区 上海交通大学机器人研究所
出处 《上海交通大学学报》 EI CAS CSCD 北大核心 2003年第11期1690-1693,共4页 Journal of Shanghai Jiaotong University
基金 国家自然科学基金(59875059) 国家高技术研究发展计划(863)(863-512-9820-04)资助项目
关键词 双臂SCARATES机器人 C空间障碍物边界 实时无碰撞运动规划 Collision avoidance Computer simulation Motion planning Real time systems
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献5

  • 1Freund E, Hoyer H. Real-time pathfinding in multirobot systems including obstacle avoidance[J]. Int J Robotics Res, 1988,1 (7): 42 - 70.
  • 2Youshik S, Zeungnam B. Collision trajectory planning for two robot arms[J]. Robotica, 1989,7: 205 -212.
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  • 4韩卫军,丁富强,赵锡芳.双臂SCARA型机器人C空间快速建立方法[J].中国机械工程,2002,13(8):702-705. 被引量：1
  • 5Dominik H, Christian W, Heinz W. On-line path planning optimal C-space discretization [A]. Proc 1998 IEEE/RSJ Int Conf on Robots and System[C].Victoria, BC, Canada :IEEE, 1998. 1479- 1484.

二级参考文献9

  • 1[1]Barraquand J, Langlois B,Lattombe J C. Numerical Potential Field Techniques for Robot Path Planning. IEEE Transactions on System, Man and Cybernetics, 1992, 22(2): 224～241
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  • 9[9]Dominik Henrich, Christian Wurll, Heinz Worn.On-line Path Planning Optimal C-space Discretization. Proceedings of the IEEE/RSJ Intl. Conference on Robots and System, 1998:1479～1484

同被引文献12

  • 1Liu A, Tendick E Cleary K, et al. A survey of surgical simulation-Applications, technology, and education[J]. Presence, 2003, 12(6): 599-614.
  • 2Wang M, Sun L N, Du Z J, et al. The design and implementation of virtual system for the robot-assisted setting-bone surgery[A]. Proceedings of the 2nd ASM-IEEE EMBS Conference on Bio-, Micro- and Nanosystems[C]. Pisctaway, NJ, USA: IEEE, 2006. 53-57.
  • 3Vazquez I, Rosell J, Contact tracking in configuration space for haptic rendering purposes[A]. Proceedings of the 6th IEEE International Symposium on Assembly and Task Planning: From Nano to Macro Assembly and Manufacturing[C]. Piscataway, NJ, USA: IEEE, 2005: 218-223.
  • 4Craig J J. Introduction to Robotics: Mechanics and Control[M]. Beijing: China Machine Press, 2005.
  • 5CHAI3D. The open source haptics project[EB/OL], http:// www.chai3d.org/, 2007/2008.
  • 6Force Dimension Company. Products overview[EB/OL], http:// www.forcedimension.com/products, 2007/2008.
  • 7朴明波,付宜利,王树国.一种基于投影面的手术器械碰撞预警算法[J].机器人,2009,31(2):124-130. 被引量：1
  • 8朱毅,张涛,宋靖雁.非完整移动机器人的人工势场法路径规划[J].控制理论与应用,2010,27(2):152-158. 被引量：55
  • 9魏迎梅,王涌,吴泉源,石教英.虚拟手术仿真中碰撞检测问题的研究[J].系统仿真学报,2000,12(5):572-575. 被引量：9
  • 10张祺,杨宜民.基于改进人工势场法的足球机器人避碰控制[J].机器人,2002,24(1):12-15. 被引量：47

引证文献2

二级引证文献7

上海交通大学学报
2003年 第11期

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