Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor

The invention relates to an optimal obstacle avoidance control method and device for robotic arms based on an artificial potential field gravitational factor. The method includes the following steps:(1) setting an initialized model position and an initial value of the gravitational factor; (2) calcu...

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Hauptverfasser:	FANG ZUHUA, FANG HOUZHAO, AN KANG, ZHOU HUA, XU YING
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING
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creator	FANG ZUHUA FANG HOUZHAO AN KANG ZHOU HUA XU YING
description	The invention relates to an optimal obstacle avoidance control method and device for robotic arms based on an artificial potential field gravitational factor. The method includes the following steps:(1) setting an initialized model position and an initial value of the gravitational factor; (2) calculating the gravity and repulsion borne by the end of a robotic arm by using an artificial potentialfield algorithm; (3) based on the initialized model position and the step (2), obtaining a path point set of the end of the robotic arm by using the gravity and repulsion; (4) obtaining the shortestdistance between the points in the path point set of the end of the robotic arm and the center position of an obstacle and the termination position of the end of the robotic arm, and obtaining a shortest obstacle avoidance path model description based on model constraints; and (5) building an obstacle avoidance path objective function based on the shortest obstacle avoidance path model description, using an optimization met
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The method includes the following steps:(1) setting an initialized model position and an initial value of the gravitational factor; (2) calculating the gravity and repulsion borne by the end of a robotic arm by using an artificial potentialfield algorithm; (3) based on the initialized model position and the step (2), obtaining a path point set of the end of the robotic arm by using the gravity and repulsion; (4) obtaining the shortestdistance between the points in the path point set of the end of the robotic arm and the center position of an obstacle and the termination position of the end of the robotic arm, and obtaining a shortest obstacle avoidance path model description based on model constraints; and (5) building an obstacle avoidance path objective function based on the shortest obstacle avoidance path model description, using an optimization met</description><language>chi ; eng</language><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; PHYSICS ; REGULATING</subject><creationdate>2018</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180717&DB=EPODOC&CC=CN&NR=108287469A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25564,76547</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20180717&DB=EPODOC&CC=CN&NR=108287469A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>FANG ZUHUA</creatorcontrib><creatorcontrib>FANG HOUZHAO</creatorcontrib><creatorcontrib>AN KANG</creatorcontrib><creatorcontrib>ZHOU HUA</creatorcontrib><creatorcontrib>XU YING</creatorcontrib><title>Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor</title><description>The invention relates to an optimal obstacle avoidance control method and device for robotic arms based on an artificial potential field gravitational factor. 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subjects	CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS PHYSICS REGULATING
title	Optimal obstacle avoidance control method and device for robotic arms based on artificial potential field gravitational factor
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