Artificial impedance approach to the collision avoidance of robots with obstacles.

dc.contributor.advisor	Necsulescu, D.,
dc.contributor.author	Jassemi-Zargani, Rahim.
dc.date.accessioned	2009-03-20T20:20:52Z
dc.date.available	2009-03-20T20:20:52Z
dc.date.created	1990
dc.date.issued	1990
dc.degree.level	Masters
dc.degree.name	M.A.Sc.
dc.description.abstract	Among the desired features for robot manipulation in future applications are autonomous trajectory generation and automatic collision avoidance. In this thesis, the Impedance control method is used for the trajectory generation of a revolute manipulator in free motion, and for obstacle avoidance. In the Impedance control method, a desired mechanical impedance between the robot end-effector and the target is generated by modulating the force or torque output of the robot actuators. An approach using Impedance control, in conjunction with 'Coastal and Surface Navigation' concept, is developed for generating trajectories in non-convex spaces utilizing proximity-sensor data.
dc.format.extent	159 p.
dc.identifier.citation	Source: Masters Abstracts International, Volume: 30-03, page: 0864.
dc.identifier.isbn	9780315606111
dc.identifier.uri	http://hdl.handle.net/10393/5697
dc.identifier.uri	http://dx.doi.org/10.20381/ruor-14491
dc.publisher	University of Ottawa (Canada)
dc.subject.classification	Engineering, Mechanical.
dc.title	Artificial impedance approach to the collision avoidance of robots with obstacles.
dc.type	Thesis

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