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《Journal of Shanghai Jiaotong University》 2001-01
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Collision Free Motion Planning of Dual-Arm Robot Based on C -Space

DING Fu qiang, HAN Wei jun, ZHAO Xi fang (Research Inst. of Robotics, Shanghai Jiaotong Univ., Shanghai 200030, China)  
This paper was focused on the collision free motion planning of dual arm robot. The method of configuration space was successfully applied to the motion planning of dual arm robots, and a new concept of slave arm collision state database (CSDB) was presented. The dual arm robot collision free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found. It was proved in the dual arm articulated robot. The results ascertain that the algorithm is feasible and effective.
【Fund】: 国家自然科学基金资助项目 !(5 9875 0 5 9) ;; “86 3”机器人装配系统网点实验室基金! (86 3-5 12 -982 0 -0 4)资助项目
【CateGory Index】: TP24
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3 LIU Shuang1, XU Ya-jing2, GENG Qing-jia2, HUANG Zhen2(1. College of Electrical Engineering, Yanshan University, Qinhuangdao, Hebei 066004, China; 2. College of MechanicalEngineering, Yanshan University, Qinhuangdao, Hebei 066004, China);The kinematical performance analysis of PUMA560 mechanism[J];Journal of Yanshan University;2006-03
4 Cai Zixing(Dept. of Automatic Control Engineering, Central South University of Technology, Changsha, 410083)Jiang Zhiming (Dept. of Computer Science, Zhengzhou University, Zhengzbou, 450052);High-Level Robot Planning Based on Expert System[J];Acta Electronica Sinica;1993-05
5 HU Xiao-bing~(1,2), HUANG Xi-yue~(1) (1.College of Mathematics and Science, Chongqing University, Chongqing 400030, China; 2.College of Automation, Chongqing University, Chongqing 400030, China);Path planning in 3-D space for robot based on ant colony algorithm[J];Journal of Chongqing University(Natural Science Edition);2004-08
6 GUO Jun-hai 1,2 GAO Yao-wen2 SHA Ding-guo1 (1.Dept. of Optoelectronic Engineering,Beijing Institute of Technolo gy, Beijing,100081 2.Beijing Institute of Tracking and Telecommunications Technology, B eijing,100094);A Method of Camera Calibration Based on Nonlinear Optimization[J];;2005-01
7 LI Ping, MENG Qing-xin, WANG Li-quan (School of Mechanical and Electrical Engineering, Harbin Engineering University,Harbin 150001, China);Research on collision detection for two-robot coordinated system[J];Journal of Harbin Engineering University;2005-03
8 YANG Jing-hui, HONG Bing-rong, PIAO Song-hao (School of Computer Science and Engineering,Harbin Institute of Technology,Harbin 150001, China);A genetic-fuzzy approach for mobile robot navigation[J];Journal of Harbin Institute of Technology;2004-07
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【Secondary References】
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1 Qi Xiangjun1,Liu Wu2,Liu Mingdan1,Zhang Lihua1(1Information and Engineering Technology College,Sichuan Agricultural University,Yaan 625014;2Guiyang Air Traffic Management Centre of CAAC,Guiyang 550005);Research on Program for Non-collision Track of a Welding Robot Based on Fishertechnik Model[J];Mechanical Science and Technology for Aerospace Engineering;2007-11
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