TY - GEN

T1 - Development of redundant robot simulator for avoiding arbitrary obstacles based on semi-analytical method of solving inverse kinematics

AU - Aoyagi, Seiji

AU - Tashiro, Kazuya

AU - Minami, Mamoru

AU - Takano, Masaharu

PY - 2007

Y1 - 2007

N2 - A method for solving obstacle avoidance for a redundant robot is proposed in the present paper. Extra degrees of freedom (DOF) of a redundant robot are effective for realizing an objective position and orientation of its end effector (referred to hereafter as "pose"), while the robot is avoiding obstacles. The path should be planned so as that the robot can avoid obstacles and realize the desired goal pose. The models of six elementary types of obstacles are assumed, taking account of real environment The path planning method proposed herein is divided into three procedures as follows: 1) solving inverse kinematics by an analytical method for avoiding six elementary types of obstacles, 2) solving inverse kinematics by a semi-analytical method for realizing a goal pose, and 3) generating a path from a start pose to the goal one. A computational simulator for a redundant robot to avoid arbitrary obstacles based on these procedures is developed.

AB - A method for solving obstacle avoidance for a redundant robot is proposed in the present paper. Extra degrees of freedom (DOF) of a redundant robot are effective for realizing an objective position and orientation of its end effector (referred to hereafter as "pose"), while the robot is avoiding obstacles. The path should be planned so as that the robot can avoid obstacles and realize the desired goal pose. The models of six elementary types of obstacles are assumed, taking account of real environment The path planning method proposed herein is divided into three procedures as follows: 1) solving inverse kinematics by an analytical method for avoiding six elementary types of obstacles, 2) solving inverse kinematics by a semi-analytical method for realizing a goal pose, and 3) generating a path from a start pose to the goal one. A computational simulator for a redundant robot to avoid arbitrary obstacles based on these procedures is developed.

UR - http://www.scopus.com/inward/record.url?scp=51349108755&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=51349108755&partnerID=8YFLogxK

U2 - 10.1109/IROS.2007.4399277

DO - 10.1109/IROS.2007.4399277

M3 - Conference contribution

AN - SCOPUS:51349108755

SN - 1424409128

SN - 9781424409129

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 3497

EP - 3502

BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007

Y2 - 29 October 2007 through 2 November 2007

ER -