首页>
外国专利>
Planning approach for obstacle avoidance in complex environment using articulated redundant robot arm
Planning approach for obstacle avoidance in complex environment using articulated redundant robot arm
展开▼
机译:使用关节冗余机器人手臂的复杂环境下的避障计划方法
展开▼
页面导航
摘要
著录项
相似文献
摘要
A planning approach for obstacle avoidance for a robot arm is disclosed. In particular, the invention relates to a planning approach for obstacle avoidance in complex environments for an articulated redundant robot arm which uses a set of via points surrounding an obstacle as an intermediary point between initial and target arm positions. Via points are generated using visual perception, and possible trajectories through the via points and to the target are rehearsed prior to execution of movement. The disclosed planning method solves the “local minima” problem in obstacle avoidance; a situation in which the obstacle avoidance vectors prevent the arm from making progress toward the target.
展开▼