Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World | Zendy

Hiromu Onda | Zendy; Tsutomu Hasegawa | Zendy; Toshihiro Matsui | Zendy

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Collision Avoidance for a Multiple-DOF Manipulator Based on Empty Space Analysis of the 3-D Real World

Author(s) -

Hiromu Onda,

Tsutomu Hasegawa,

Toshihiro Matsui

Publication year - 1992

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.257

H-Index - 19

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.1992.p0430

Subject(s) - workspace , path (computing) , manipulator (device) , space (punctuation) , collision avoidance , object (grammar) , computer science , parallel manipulator , computer vision , control theory (sociology) , artificial intelligence , collision , mathematics , robot , control (management) , computer security , operating system , programming language

This paper describes a new method for finding collisionfree paths for a multiple-degree of freedom (DOF) manipulator with rotational joints and a grasped object. The method first analyzes the structure of empty space in the 3-D workspace. Based on this space analysis, the path search is divided and direction which appears to be most promising is determined in the 3-D workspace. Finally, the path search is systematically executed in the joint space in the direction equivalent to the promising direction. This method is applicable to various problems regardless of the number of degrees of freedom of the manipulator, its structure, and the presence of a grasped object.

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