マニピュレータの移動障害物自動回避軌道計画法の研究

概要

論文の詳細を見る
In recent years, the automatic planning method of the collision-free manipulator path among obstacles is reported in many papers to increase manipulator capability. However, path planning among moving obstacles has been studied in only a few papers, in which some difficulties such as the necessity for assumption of the ideal path or necessity for transformation of real-space coordinates of the obstacles to the joint angle space have made it almost impossible to apply the methods to a multi-DOF manipulator. We propose an algorithm in order to solve these difficulties, while adopting the potential method of fuzzy reasoning. As the result of simulations, this work proved this method effective and that if the information not only the deviation from the target and proximity to the obstacles but also the rate of change of these quantities is known, the planning time of the collision-free path among moving obstacles is shortened.
一般社団法人日本機械学会の論文
1995-03-25