an obstacle avoidance method for action support 7-dof manipulators using impedance control
Clicks: 123
ID: 258427
2013
Article Quality & Performance Metrics
Overall Quality
Not rated
Combines reader engagement with the AI quality analysis. This
article has not been analysed, so there is no overall score —
reader engagement is measured and shown alongside.
Reader Engagement
Steady Performance
30.0
/100
123 views
17 readers
AI Quality Assessment
Not analyzed
Readership in this journal
SteadyRanked #13 of 23 articles by views in asse professional development conference 2017, safety 2017
Most read
Least read
Bar heights use a square-root scale.
Mint this article as an NFT
Not yet mintedCreate a permanent, verifiable on-chain record of this article on the Scimatic Network. The NFT is held in your Journament account, and you can withdraw it to your own wallet at any time.
5
SUSD
one-off · no wallet required
Abstract
An obstacle avoidance method of action support 7-DOF manipulators is proposed in this paper. The manipulators are controlled with impedance control to follow user's motions. 7-DOF manipulators are able to avoid obstacles without changing the orbit of the end-effector because they have kinematic redundancy. A joint rate vector is used to change angular velocity of an arbitrary joint with kinematic redundancy. The priority of avoidance is introduced into the proposed method, so that avoidance motions precede follow motions when obstacles are close to the manipulators. The usefulness of the proposed method is demonstrated through obstacle avoidance simulations and experiments.
| Reference Key |
hamaguchi2013journalan
Use this key to autocite in the manuscript while using
SciMatic Manuscript Manager or Thesis Manager
|
|---|---|
| Authors | ;Masafumi Hamaguchi;Takao Taniguchi |
| Journal | asse professional development conference 2017, safety 2017 |
| Year | 2013 |
| DOI |
10.1155/2013/842717
|
| URL | |
| Keywords |
Citations
No citations found. To add a citation, contact the admin at info@scimatic.org
Comments
No comments yet. Be the first to comment on this article.