Obstacle avoidance for redundant robots using configuration control
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United States of America Patent
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Sep 22, 1992
Grant Date -
N/A
app pub date -
Nov 19, 1990
filing date -
Nov 19, 1990
priority date (Note) -
Expired
status (Latency Note)
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Abstract
A redundant robot control scheme is provided for avoiding obstacles in a workspace during motion of an end effector along a preselected trajectory by stopping motion of the critical point on the robot closest to the obstacle when the distance therebetween is reduced to a predetermined sphere of influence surrounding the obstacle. Algorithms are provided for conveniently determining the critical point and critical distance.
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