Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/6140
Title: A new objective function for obstacle avoidance by redundant service robot arms
Authors: Dede, Mehmet İsmet Can
Maaroof, Omar W.
Tatlıcıoglu, Enver
Dede, Mehmet İsmet Can
Maaroof, Omar W.
Tatlıcıoglu, Enver
Keywords: Assistive robots
Obstacle avoidance
Self motion
Redundant manipulators
Sub-task control
Issue Date: 2016
Publisher: SAGE Publications Inc.
Source: Dede, M.İ.C., Maaroof, O. W., and Tatlıcıoǧlu, E. (2016). A new objective function for obstacle avoidance by redundant service robot arms. International Journal of Advanced Robotic Systems, 13(2). doi:10.5772/62471
Abstract: The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives.
URI: http://doi.org/10.5772/62471
http://hdl.handle.net/11147/6140
ISSN: 1729-8806
1729-8806
Appears in Collections:Electrical - Electronic Engineering / Elektrik - Elektronik Mühendisliği
Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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