STUDY ON OBSTACLE AVOIDANCE OF ENTERING A HOLE FOR AN MANIPULATOR

›› 1996, Vol. 32 ›› Issue (6): 26-30，6.

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STUDY ON OBSTACLE AVOIDANCE OF ENTERING A HOLE FOR AN MANIPULATOR

Gui Tong;Yuan PeiZhang;Zhao Mingyang;Li Qunming

Shenyang Institute of Automation, Chinese Academy of Sciences

Published:1996-11-01

Abstract

Abstract: The algorithm of obstacle avoidance for a multi-DOFs series-parallel manipulator to enter a hole is studied, and the motion simulation is realized. Using priority order theory and rotation tensor method, We realize the obstacle avoidance planning for the multi-DOFs manipulator of which the lengthes of the bars are variable with time. The motion simulation of obstacle avoidance of entering a hole is finished on CAD-station and obtains satisfied results.

Key words: Multi-DOFs mechanism simplification of mechanism, Obstacle avoidance, Series-parallel manipulator

Gui Tong;Yuan PeiZhang;Zhao Mingyang;Li Qunming. STUDY ON OBSTACLE AVOIDANCE OF ENTERING A HOLE FOR AN MANIPULATOR[J]. , 1996, 32(6): 26-30，6.

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STUDY ON OBSTACLE AVOIDANCE OF ENTERING A HOLE FOR AN MANIPULATOR

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