COLLISION DETECTION AND OBSTACLE AVOIDANCE OF INDUSTRIAL MANIPULATORS
碩士 === 國立臺灣科技大學 === 機械工程系 === 103 === A trajectory needs to stay away from singularity and obstacles. The closeness to singularity can be easily detected using the determinant of the Jacobian matrix, but obstacle avoidance is much more difficult to deal with. Existing methods use simple geometric mo...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2015
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| Online Access: | http://ndltd.ncl.edu.tw/handle/58851888020477065582 |