A 3-dimensional force field method for robot collision avoidance in complex environments

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dc.contributor.author Chotiprayanakul, P
dc.contributor.author Liu, DK
dc.contributor.author Wang, D
dc.contributor.author Dissanayake, G
dc.date.accessioned 2010-05-18T06:50:21Z
dc.date.issued 2007
dc.identifier.citation Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction, 2007, pp. 139 - 145
dc.identifier.isbn 9788190423519
dc.identifier.other E1 en_US
dc.identifier.uri http://hdl.handle.net/10453/7180
dc.description.abstract This paper proposes a three-dimensional force field (3D-F 2) method for efficient motion planning and collision avoidance of a 6DOF manipulator in complex and dynamic environments while keeping the planned end-effector's path and speed unchanged. The 3D-F 2 is defined as ellipsoid shapes covering selected links of a manipulator. When the manipulator moves and its ellipsoid force field approaches to an obstacle in a tolerant range, a repulsive force will be generated and considered in the robot kinematic and dynamic analyses. In infrastructure maintenance, spray-painting and sand-blasting operations require that the operating spot "moves" smoothly and continuously along planned path on a work surface at a constant speed, and allow changes in length and orientation of the spray/blasting stream. Thus, the stream is supposed to be another link and the end of stream performs as a spherical joint fixed on the target surface. Various simulations in a construction area show that the 3D-F 2 can retain the operating path and effectively avoid potential collisions.
dc.title A 3-dimensional force field method for robot collision avoidance in complex environments
dc.type Conference Proceeding
dc.parent Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
dc.journal.number en_US
dc.publocation India en_US
dc.identifier.startpage 139 en_US
dc.identifier.endpage 145 en_US
dc.cauo.name FEIT.School of Elec, Mech and Mechatronic Systems en_US
dc.conference en_US
dc.conference Verified OK en_US
dc.conference.location Madras, India en_US
dc.for 091007 Manufacturing Robotics and Mechatronics (Excl. Automotive Mechatronics)
dc.for 0905 Civil Engineering
dc.personcode 000350
dc.personcode 011224
dc.personcode 105612
dc.personcode 104148
dc.percentage 50 en_US
dc.classification.name Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics) en_US
dc.classification.type FOR-08 en_US
dc.custom International Symposium on Automation and Robotics in Construction en_US
dc.date.activity 20070919 en_US
dc.location.activity Kochi, Kerala, India en_US
dc.description.keywords Force Field, 3-D-F2, Collision Avoidance en_US
dc.description.keywords 3D-F 2
dc.description.keywords Collision avoidance
dc.description.keywords Force field
dc.description.keywords 3D-F 2
dc.description.keywords 3D-F 2
dc.description.keywords Collision avoidance
dc.description.keywords Collision avoidance
dc.description.keywords Force field
dc.description.keywords Force field
dc.description.keywords 3D-F 2
dc.description.keywords Collision avoidance
dc.description.keywords Force field
pubs.embargo.period Not known
pubs.organisational-group /University of Technology Sydney
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group /University of Technology Sydney/Faculty of Engineering and Information Technology/School of Elec, Mech and Mechatronic Systems


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