DC Field | Value | Language |
---|---|---|
dc.contributor.author | 조웅장 | - |
dc.contributor.author | 권동수 | - |
dc.date.accessioned | 2013-03-15T23:00:08Z | - |
dc.date.available | 2013-03-15T23:00:08Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 1996-10-24 | - |
dc.identifier.citation | Proceedings of the 11th Korea Automatic Control Conference, v., no., pp.1140 - 1143 | - |
dc.identifier.uri | http://hdl.handle.net/10203/124849 | - |
dc.description.abstract | A new approach based on artificial potential function is proposed for the obstacle avoidance of redundant manipulators. Unlike the so-called "global" path planning method, which requires expensive computation for the path search before the manipulator starts to move, this new approach, "local" path planning, researches the path in real-time using the local distance information. Previous use of artificial potential function has exhibited local minima in some complex environments. This thesis proposes a potential function that has no local minima even for a cluttered environment. This potential function has been implemented for the collision avoidance of a redundant robot in Simulation. The simulation also employ an algorithm that eliminates collisions with obstacles by calculating the repulsive potential exerted on links, based on the shortest distance to object. | - |
dc.language | KOR | - |
dc.publisher | 제어ㆍ로봇ㆍ시스템학회 | - |
dc.title | 여유 자유도 로봇의 실시간 충돌 회피 | - |
dc.title.alternative | Real-Time Obstacle Avoidance for Redundant Manipulator | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.beginningpage | 1140 | - |
dc.citation.endingpage | 1143 | - |
dc.citation.publicationname | Proceedings of the 11th Korea Automatic Control Conference | - |
dc.identifier.conferencecountry | South Korea | - |
dc.identifier.conferencecountry | South Korea | - |
dc.contributor.localauthor | 권동수 | - |
dc.contributor.nonIdAuthor | 조웅장 | - |
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