中国机械工程2011，Vol.22Issue(24)：2899-2902,4.
基于虚拟力的冗余度机器人自主避障研究
Research on Obstacle Avoidance by Virtual Force for Redundant Robot
摘要
Abstract
This paper present a new method of obstacle avoidance for redundant robot with tool-tip restrictions.This method introduced virtual force and kinematic of multibody system into obstacle avoidance.The robot avoided obstacle in real-time based on the obstacle avoidance force and the attraction of mission path.Obstacle avoidance algorithm improves accuracy and efficiency by the partition of operating area and the accurate computation of obstacle avoidance force.The approach implements collision avoidance without kinematics optimization and improves the real-time performance.关键词
虚拟力/冗余度机器人/多体动力学/自主避障Key words
virtual force/redundant robot/multi-body dynamics/obstacle avoidance分类
信息技术与安全科学引用本文复制引用
丑武胜,王朔..基于虚拟力的冗余度机器人自主避障研究[J].中国机械工程,2011,22(24):2899-2902,4.基金项目
国家自然科学基金资助项目（60775051) （）
