A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.contributor.author | Maaroof, Omar W. | |
| dc.contributor.author | Tatlıcıoglu, Enver | |
| dc.coverage.doi | 10.5772/62471 | |
| dc.date.accessioned | 2017-08-17T07:12:50Z | |
| dc.date.available | 2017-08-17T07:12:50Z | |
| dc.date.issued | 2016 | |
| dc.description.abstract | The performance of task-space tracking control of kinematically redundant robots regulating self-motion to ensure obstacle avoidance is studied and discussed. As the subtask objective, the links of the kinematically redundant assistive robot should avoid any collisions with the patient that is being assisted. The shortcomings of the obstacle avoidance algorithms are discussed and a new obstacle avoidance algorithm is proposed. The performance of the proposed algorithm is validated with tests that were carried out using the virtual model of a seven degrees-offreedom robot arm. The test results indicate that the developed controller for the robot manipulator is successful in both accomplishing the main-task and the sub-task objectives. | en_US |
| dc.description.sponsorship | Scientific and Technological Research Council of Turkey (113E147) | en_US |
| dc.identifier.citation | Dede, M.İ.C., Maaroof, O. W., and Tatlıcıoǧlu, E. (2016). A new objective function for obstacle avoidance by redundant service robot arms. International Journal of Advanced Robotic Systems, 13(2). doi:10.5772/62471 | en_US |
| dc.identifier.doi | 10.5772/62471 | en_US |
| dc.identifier.doi | 10.5772/62471 | |
| dc.identifier.issn | 1729-8806 | |
| dc.identifier.issn | 1729-8814 | |
| dc.identifier.scopus | 2-s2.0-85002518120 | |
| dc.identifier.uri | http://doi.org/10.5772/62471 | |
| dc.identifier.uri | https://hdl.handle.net/11147/6140 | |
| dc.language.iso | en | en_US |
| dc.publisher | SAGE Publications Inc. | en_US |
| dc.relation | info:eu-repo/grantAgreement/TUBITAK/EEEAG/113E147 | en_US |
| dc.relation.ispartof | International Journal of Advanced Robotic Systems | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Assistive robots | en_US |
| dc.subject | Obstacle avoidance | en_US |
| dc.subject | Self motion | en_US |
| dc.subject | Redundant manipulators | en_US |
| dc.subject | Sub-task control | en_US |
| dc.title | A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms | en_US |
| dc.type | Article | en_US |
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| gdc.author.institutional | Dede, Mehmet İsmet Can | |
| gdc.author.institutional | Maaroof, Omar W. | |
| gdc.author.institutional | Tatlıcıoglu, Enver | |
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| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.issue | 2 | en_US |
| gdc.description.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | Q2 | |
| gdc.description.volume | 13 | en_US |
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| gdc.oaire.keywords | Redundant manipulators | |
| gdc.oaire.keywords | TK7800-8360 | |
| gdc.oaire.keywords | Electronic computers. Computer science | |
| gdc.oaire.keywords | Self motion | |
| gdc.oaire.keywords | Assistive robots | |
| gdc.oaire.keywords | QA75.5-76.95 | |
| gdc.oaire.keywords | Sub-task control | |
| gdc.oaire.keywords | Electronics | |
| gdc.oaire.keywords | Obstacle avoidance | |
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