Real-time dynamic system to path tracking and collision avoidance for redundant robotic arms-中国期刊网

摘要 Andynamicsystemforreal-timeobstacleavoidancepathplanningofredundantrobotsisconstructedinthispaper.Firstly,theinter-framedifferencemethodisusedtoidentifythemovingtargetandtocalculatethetargetarea,thenonthebasisofcolorfeaturesandgradientfeaturesextractedfromthetargetarea,thefeaturefusionCam-Shiftmeanshiftalgorithmisusedtotracktarget,improvingtherobustnessofthetrackingalgorithm.Secondly,aparalleltwo-channeltargetidentificationandlocationmethodbasedonbinocularvisionisproposed,updatingthetarget’sthree-dimensionalinformationinrealtime.Then,adynamiccollision-freepathplanningmethodisimplemented:thesafetyrodsareremovedthroughtheintersectiontest,andtheminimumdistanceisderiveddirectlybyusingthecoordinatevaluesofthetargetinthelocalcoordinatesystemoftherod.Onthisbasis,theobstacleavoidancegainandescapevelocityrelatedtotheminimumdistanceisestablished,andobstacleavoidancepathplanningisimplementedbyusingthezerospacemappingmatrixofredundantrobot.Experimentsareperformedtostudytheefficiencyoftheproposedsystem.

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Real-time dynamic system to path tracking and collision avoidance for redundant robotic arms

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Real-time dynamic system to path tracking and collision avoidance for redundant robotic arms

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