AN IMPROVED APF METHOD FOR SAFETY CONTROL OF MOBILE MANIPULATOR IN HUMAN-ROBOT COEXISTENCE ENVIRONMENT - Details

author：

Ye, Jinhua (Ye, Jinhua.) ^[1] | Hong, Linxin (Hong, Linxin.) ^[2] | Wu, Haibin (Wu, Haibin.) ^[3] | Zheng, Gengfeng (Zheng, Gengfeng.) ^[4]

Indexed by：

SCIE

Abstract：

Technology　is　nudging　robot　into　automation　and　intelligence　field,　making　dynamic　collision　avoidance　indispensable　in　robotics.　Aiming　at　safety　control　of　mobile　manipulator　in　human-robot　coexistence　environment,　a　novel　artificial　potential　field　based　on　danger　index　(DIAPF)　approach　is　proposed.　Firstly,　hinged　on　the　kinematic　and　dynamic　model　of　mobile　manipulators,　a　danger　index　system　is　established　to　take　precautions　against　accident　during　the　operation.　We　further　improve　the　repulsion　field　and　velocity　repulsive　field　to　promote　dynamic　obstacle　avoidance　in　the　human-robot　coexistence　environments.　Feasibility　and　effectiveness　of　the　proposed　method　are　verified　in　simulation　environment.

Keyword：

artificial potential field (APF) danger index (DI) Human-robot coexistence environments

Community：

[ 1 ] [Ye, Jinhua]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350116, Peoples R China
[ 2 ] [Hong, Linxin]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350116, Peoples R China
[ 3 ] [Wu, Haibin]Fuzhou Univ, Sch Mech Engn & Automat, Fuzhou 350116, Peoples R China
[ 4 ] [Zheng, Gengfeng]Fujian Prov Special Equipment Inspection & Res Ins, Fuzhou 350003, Peoples R China
[ 5 ] [Zheng, Gengfeng]Fujian Key Lab Special Intelligent Equipment Safet, Fuzhou 350003, Peoples R China

Reprint 's Address：

[Zheng, Gengfeng]Fujian Prov Special Equipment Inspection & Res Ins, Fuzhou 350003, Peoples R China;;[Zheng, Gengfeng]Fujian Key Lab Special Intelligent Equipment Safet, Fuzhou 350003, Peoples R China

Email：

yejinhua@fzu.edu.cn |
895302673@qq.com |
wuhb@fzu.edu.cn |
gf.zheng83@fzu.edu.cn

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