Research on dynamic trajectory planning of collaborative robots base on RRT-RV Algorithm

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	Research on dynamic trajectory planning of collaborative robots base on RRT-RV Algorithm
	Liu GD(刘国栋)1,2; Jiang Y(姜勇)1,2
	2018
会议日期	December 14-16, 2018
会议地点	Chongqing, China
关键词	dynamic trajectory planning collaborative robots RRT-RV method
页码	1020-1023
英文摘要	A novel aooroach of dynamic trajectory planning of collaborative robots is proposed. Firstly, the distances of human-robot are obtained through a new simple method by RGBD camera kinect. Then, the trajectory is generated by the proposed approach(RRT-RV), which improved the traditional RRT method by adding constraint factor as well as merging RV method. This method does not only consider static obstacles, but also takes dynamic obstacles into account. Moreover, simulation experiment is utilized to execute the new method and optimize parameters. Besides, further physical experiment is conducted by RGBD camera Kinect and UR5 robot to verify the feasibility and effectivity of the designed real-time collision avoidance algorithm.
产权排序	1
会议录	Proceedings of 2018 IEEE 4th Information Technology and Mechatronics Engineering Conference, ITOEC 2018
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-5386-5373-9
WOS记录号	WOS:000491408500201
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25279]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liu GD(刘国栋)
作者单位	1.(State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.College of Information Science and Engineering, Northeastern University, China
推荐引用方式 GB/T 7714	Liu GD,Jiang Y. Research on dynamic trajectory planning of collaborative robots base on RRT-RV Algorithm[C]. 见:. Chongqing, China. December 14-16, 2018.