When a robotic system is put in an area, obstacle avoidance is a key notion to consider. Obstacles in a robotic system's working space can hinder the robot from correctly accomplishing the duties assigned to it; as a result, the robotic system's designer must programme the robot to follow an emergency strategy that allows it to avoid any contact with a possible obstacle. anywhere within the robot's working space at any time This activity is significantly easier for mobile robots to complete since these robots have the freedom to vary their routes and pick less-obstructed alternatives. The scenario is even more complicated for fixed robotic manipulators because the only method to avoid an obstruction is to modify the spatial configuration of the robotic manipulator, which necessitates a sophisticated solution to the inverse kinematics problem of such a robot. Robotic systems that are redundant However, this is not a simple task. We focus solely on obstacle avoidance techniques in this paper, and we present a real-time obstacle avoidance method for fixed, highly redundant robotic manipulators that combines the benefits of both global and local techniques in that it can be used in both static and dynamic environments while requiring less computational effort.
Author (s) Details
Firas S. Hameed
The Iraqi Ministry of Science and Technology Baghdad,
Iraq
View Book : https://stm.bookpi.org/AAER-V14/article/view/1265
No comments:
Post a Comment