A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s m...

Full description

Bibliographic Details
Main Authors: Cecilia Scoccia, Giacomo Palmieri, Matteo Claudio Palpacelli, Massimo Callegari
Format: Article
Language:English
Published: MDPI AG 2021-02-01
Series:Machines
Subjects:
collaborative robotics
trajectory planning
obstacle avoidance
redundant manipulator
Bezier curves
Online Access:https://www.mdpi.com/2075-1702/9/2/30

Internet

https://www.mdpi.com/2075-1702/9/2/30

Similar Items