In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacle...In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.展开更多
With the development of IT,more andmore document resources are available over the Internet.Inorder to facilitate users’retrieval of the digital documents,Integrations of the multi source systems are necessary,Sinceth...With the development of IT,more andmore document resources are available over the Internet.Inorder to facilitate users’retrieval of the digital documents,Integrations of the multi source systems are necessary,Sincethe individual sources collect their information independently,the same papers may be stored in different source systems.The traditional solutions to the redundancy problems in thedistributed environments are usually based on the globalcatalogs which keep the redundancy information for thesyst...展开更多
基金Supported by Ministeral Level Advanced Research Foundation(65822576)Beijing Municipal Education Commission(KM201310858004,KM201310858001)
文摘In order to overcome the shortcomings of the previous obstacle avoidance algorithms,an obstacle avoidance algorithm applicable to multiple mobile obstacles was proposed.The minimum prediction distance between obstacles and a manipulator was obtained according to the states of obstacles and transformed to escape velocity of the corresponding link of the manipulator.The escape velocity was introduced to the gradient projection method to obtain the joint velocity of the manipulator so as to complete the obstacle avoidance trajectory planning.A7-DOF manipulator was used in the simulation,and the results verified the effectiveness of the algorithm.
文摘With the development of IT,more andmore document resources are available over the Internet.Inorder to facilitate users’retrieval of the digital documents,Integrations of the multi source systems are necessary,Sincethe individual sources collect their information independently,the same papers may be stored in different source systems.The traditional solutions to the redundancy problems in thedistributed environments are usually based on the globalcatalogs which keep the redundancy information for thesyst...
