2017
DOI: 10.12783/dtetr/iceta2016/7066
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A New Path Planning Method of Obstacle and Singularity Avoidance for Redundant Robot

Abstract: This thesis proposes a path planning method of obstacle and singularity avoidance with synergistic effect for redundant robot. By analyzing robot configuration, it proposes an improved method to calculate real-time minimum distance. At first, it screens out the connecting rod which might collide. Then, it calculates the distance by coordinate variation method and took the minimum value. At last, it obtains the real-time minimum distance. By introducing two obstacle avoidance parameters related to the real-time… Show more

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Cited by 1 publication
(1 citation statement)
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“…Zhang et al [22] generate fan-shaped path effective area according to the actual operating area of the tower crane and reorder the first generation particles, which can effectively improve the efficiency of the tower crane operation and verify the feasibility of the algorithm. Li et al [23] sorted the particles according to the fitness value to improve the speed of the algorithm, and added the path length and path smoothness to the fitness function to make the generated path smoother. The feasibility of 3D environment was verified.…”
Section: Particle Swarm Algorithmmentioning
confidence: 99%
“…Zhang et al [22] generate fan-shaped path effective area according to the actual operating area of the tower crane and reorder the first generation particles, which can effectively improve the efficiency of the tower crane operation and verify the feasibility of the algorithm. Li et al [23] sorted the particles according to the fitness value to improve the speed of the algorithm, and added the path length and path smoothness to the fitness function to make the generated path smoother. The feasibility of 3D environment was verified.…”
Section: Particle Swarm Algorithmmentioning
confidence: 99%