https://scholars.lib.ntu.edu.tw/handle/123456789/430176
標題: | Non-Contact Collision Avoidance with Sensory Servo Control in Real Time for Industrial Automation | 作者: | Ren C. Luo Chun-Hao Liao Mong-Hsum Kuo REN-CHYUAN LUO |
公開日期: | 2017 | 來源出版物: | 2017 IEEE Smart World Congress | 摘要: | This paper presents a combination of repulsive and attractive vector generator in non-contact obstacle avoidance for an intelligent robot manipulator. A 7-DoFs robot arm developed in our lab at NTU is equipped with multiple cameras in the environment. This provides flawless sights for a robot to detect the obstacles and react to end-effector pose. An algorithm is introduced to compute the vector of end-effector to obstacle whether it is repulsive or attractive. The key component of collision avoidance lies on the position of an object in the environment. The performance toward different position shows an intuitive reaction in the manipulator. If the repulsive vectors are generated according to the relationship between obstacles and partial of arm body, the machine will react to commands derived from Vector Trajectory Generator algorithm. In the end of this paper, the system which has been successfully implemented as a proof of the principle is the proper behavior for non-contact avoidance. © 2017 IEEE. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/430176 | DOI: | 10.1109/uic-atc.2017.8397451 | SDG/關鍵字: | Big data; Collision avoidance; End effectors; Intelligent robots; Manipulators; Robot applications; Smart city; Vectors; Industrial automation; Multiple cameras; Non-contact; Real time; Robot arms; Servo control; Trajectory generator; Ubiquitous computing |
顯示於: | 電機工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。