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dc.contributor.authorLin, Chien-Chouen_US
dc.contributor.authorChuang, Jen-Huien_US
dc.date.accessioned2014-12-08T15:07:06Z-
dc.date.available2014-12-08T15:07:06Z-
dc.date.issued2010-04-01en_US
dc.identifier.issn0253-3839en_US
dc.identifier.urihttp://hdl.handle.net/11536/5565-
dc.description.abstractA novel collision avoidance algorithm based on the generalized potential model is proposed to solve the path-planning problem of hyper-redundant manipulators in 3D workspace. The approach computes repulsive force and torque between manipulator and obstacles by using the workspace information directly. A collision-free path for a manipulator can then be obtained by locally adjusting the manipulator configuration to search for minimum potential configurations using these forces and torques. The proposed approach is efficient since these potential gradients are analytically tractable. Furthermore, the proposed algorithm is also extended to dual-arm systems. Simulation results show that the proposed algorithm works well, in terms of computation time and collision avoidance.en_US
dc.language.isoen_USen_US
dc.subjectmanipulator path planningen_US
dc.subjecthyper-redundant manipulatorsen_US
dc.subjectmotion planningen_US
dc.subjectpotential fielden_US
dc.titleA POTENTIAL-BASED PATH PLANNING ALGORITHM FOR HYPER-REDUNDANT MANIPULATORSen_US
dc.typeArticleen_US
dc.identifier.journalJOURNAL OF THE CHINESE INSTITUTE OF ENGINEERSen_US
dc.citation.volume33en_US
dc.citation.issue3en_US
dc.citation.spage415en_US
dc.citation.epage427en_US
dc.contributor.department資訊工程學系zh_TW
dc.contributor.departmentDepartment of Computer Scienceen_US
dc.identifier.wosnumberWOS:000277707000010-
dc.citation.woscount3-
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