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A note on avoiding obstacles

โœ Scribed by Behnam Pourbabai

Book ID
103955477
Publisher
Elsevier Science
Year
1991
Tongue
English
Weight
271 KB
Volume
7
Category
Article
ISSN
0921-8890

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โœฆ Synopsis

In this paper, a mathematical model for avoiding obstacles by the movement of a flexible robot arm with multiple joints and expandable or contractable links in Cartesian coordinates is developed. In the model, the only decision variables are the coordinates of each joint of the robot arm with respect to the base of the robot arm, and the only necessary information besides the geometric parameters of the robot arm are the coordinates of the origin and the destination points of the robot arm in space, and the corresponding linear inequalities used to characterize the feasible region polytope for the movement of the robot arm.

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Earlier work has dealt with controls which guarantee that every trajectory of a given dynamical system remains outside (avoids) a prescribed set (anti-target) for all time. In the present treatment, we permit the intersection of the anti-target but consider two cases of avoidance: the anti-target mu