Sensor-based on-line motion planning method for robot manipulators

Bao Jin; Shu Guo Wang; Yi Li Fu; Zheng Cai Cao

Sensor-based on-line motion planning method for robot manipulators

Bao Jin^*
, Shu Guo Wang
, Yi Li Fu
, Zheng Cai Cao

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

Abstract

An on-line motion planning approach based on the sensing information is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The infrared sensors are used to build a description of the robot's surroundings. The distances to the C-obstacles on some particular directions are evaluated. The proposed algorithm guides the automation to the target in C-space by phases. Simulations verify the effectiveness of the proposed method.

Original language	English
Pages (from-to)	1216-1220
Number of pages	5
Journal	Kongzhi yu Juece/Control and Decision
Volume	20
Issue number	11
State	Published - Nov 2005

Keywords

C-space
Motion planning
Robot
Sensing information

Cite this

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title = "Sensor-based on-line motion planning method for robot manipulators",

abstract = "An on-line motion planning approach based on the sensing information is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The infrared sensors are used to build a description of the robot's surroundings. The distances to the C-obstacles on some particular directions are evaluated. The proposed algorithm guides the automation to the target in C-space by phases. Simulations verify the effectiveness of the proposed method.",

keywords = "C-space, Motion planning, Robot, Sensing information",

author = "Bao Jin and Wang, \{Shu Guo\} and Fu, \{Yi Li\} and Cao, \{Zheng Cai\}",

year = "2005",

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language = "英语",

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AU - Jin, Bao

AU - Wang, Shu Guo

AU - Fu, Yi Li

AU - Cao, Zheng Cai

PY - 2005/11

Y1 - 2005/11

N2 - An on-line motion planning approach based on the sensing information is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The infrared sensors are used to build a description of the robot's surroundings. The distances to the C-obstacles on some particular directions are evaluated. The proposed algorithm guides the automation to the target in C-space by phases. Simulations verify the effectiveness of the proposed method.

AB - An on-line motion planning approach based on the sensing information is proposed for collision avoidance of multi-joint robot operating in unstructured environments. The infrared sensors are used to build a description of the robot's surroundings. The distances to the C-obstacles on some particular directions are evaluated. The proposed algorithm guides the automation to the target in C-space by phases. Simulations verify the effectiveness of the proposed method.

KW - C-space

KW - Motion planning

KW - Robot

KW - Sensing information

UR - https://www.scopus.com/pages/publications/29144473384

M3 - 文章

AN - SCOPUS:29144473384

SN - 1001-0920

VL - 20

SP - 1216

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JO - Kongzhi yu Juece/Control and Decision

JF - Kongzhi yu Juece/Control and Decision

IS - 11

ER -

Sensor-based on-line motion planning method for robot manipulators

Abstract

Keywords

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