An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method | |
Zhang XB(张晓波)1,2,4; Liu JG(刘金国)1,2; Li YM(李杨民)1,2,3 | |
刊名 | Robotica |
2022 | |
卷号 | 40期号:4页码:1036-1069 |
关键词 | Keywords: obstacle avoidance RRT shape control space hyper-redundant manipulators |
ISSN号 | 0263-5747 |
产权排序 | 1 |
英文摘要 | This paper proposes a kinematic obstacle avoidance algorithm for Space hyper-redundant manipulators, and its basic idea is to use a static and a dynamic curve to constrain the macroshape of the manipulators simultaneously. The static curve is constructed based on a traditional rapidly exploring random tree algorithm, and a backbone curve is utilized as the dynamic curve. For these two curves, two novel shape control methods are proposed to accomplish the shape constraining process. Finally, we verify the reliability and effectiveness of our algorithm through simulations. © The Author(s), 2021. Published by Cambridge University Press. |
资助项目 | National Key R&D Program of China[2018YFB1304600] ; National Natural Science Foundation of China[51775541] ; CAS Interdisciplinary Innovation Team[JCTD-2018-11] |
WOS关键词 | INVERSE KINEMATICS ; MOTION ; SCHEME ; MINIMIZATION |
WOS研究方向 | Robotics |
语种 | 英语 |
WOS记录号 | WOS:000766506700012 |
资助机构 | National Key R&D Program of China (2018YFB1304600) ; National Natural Science Foundation of China (51775541), and the CAS Interdisciplinary Innovation Team (JCTD-2018-11) |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/29504] |
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 JG(刘金国) |
作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110169, China 3.Department of Industrial and Systems Engineering, the Hong Kong Polytechnic University, Hong Kong99077, China 4.University of Chinese Academy of Sciences, Beijing, 100049, China |
推荐引用方式 GB/T 7714 | Zhang XB,Liu JG,Li YM. An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method[J]. Robotica,2022,40(4):1036-1069. |
APA | Zhang XB,Liu JG,&Li YM.(2022).An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method.Robotica,40(4),1036-1069. |
MLA | Zhang XB,et al."An obstacle avoidance algorithm for space hyper-redundant manipulators using combination of RRT and shape control method".Robotica 40.4(2022):1036-1069. |
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