Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/6140
Title: | A new objective function for obstacle avoidance by redundant service robot arms | Authors: | Dede, Mehmet İsmet Can Maaroof, Omar W. Tatlıcıoglu, Enver |
Keywords: | Assistive robots Obstacle avoidance Self motion Redundant manipulators Sub-task control |
Issue Date: | 2016 | Publisher: | SAGE Publications Inc. | Source: | Dede, M.İ.C., Maaroof, O. W., and Tatlıcıoǧlu, E. (2016). A new objective function for obstacle avoidance by redundant service robot arms. International Journal of Advanced Robotic Systems, 13(2). doi:10.5772/62471 | Abstract: | The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives. | URI: | http://doi.org/10.5772/62471 http://hdl.handle.net/11147/6140 |
ISSN: | 1729-8806 1729-8806 |
Appears in Collections: | Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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