TY - GEN
T1 - Obstacle avoidance for redundant manipulators based on a novel gradient projection method with a functional scalar
AU - Liu, Yu
AU - Zhao, Jing
AU - Xie, Biyun
PY - 2010
Y1 - 2010
N2 - A new Gradient Projection Method is constructed. The optimization problem with an unequal constraint of joint velocity limit defined by infinity norm is solved, and its analytical form is derived to achieve the best optimization ability within a given joint velocity limit. Based on its optimization ability, and the concern of joint velocity limit, comparison with fixed scalar algorithm is made. A vision-based system is constructed and real time obstacle avoidance experiment is implemented with this new method. The results show that this new method is superior to other methods. It can automatically change the value of scalar k to make the robot obtain the best optimization ability, have no numerical oscillations and meet any specified joint velocity limit in terms of the infinity norm.
AB - A new Gradient Projection Method is constructed. The optimization problem with an unequal constraint of joint velocity limit defined by infinity norm is solved, and its analytical form is derived to achieve the best optimization ability within a given joint velocity limit. Based on its optimization ability, and the concern of joint velocity limit, comparison with fixed scalar algorithm is made. A vision-based system is constructed and real time obstacle avoidance experiment is implemented with this new method. The results show that this new method is superior to other methods. It can automatically change the value of scalar k to make the robot obtain the best optimization ability, have no numerical oscillations and meet any specified joint velocity limit in terms of the infinity norm.
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U2 - 10.1109/ROBIO.2010.5723588
DO - 10.1109/ROBIO.2010.5723588
M3 - Conference contribution
AN - SCOPUS:79952959078
SN - 9781424493173
T3 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
SP - 1704
EP - 1709
BT - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
T2 - 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
Y2 - 14 December 2010 through 18 December 2010
ER -