Cited time in webofscience Cited time in scopus

Full metadata record

DC Field Value Language
dc.contributor.author Kang, Yeon -
dc.contributor.author Kim, Donghan -
dc.contributor.author Yun, Dongwon -
dc.date.accessioned 2022-12-20T16:40:10Z -
dc.date.available 2022-12-20T16:40:10Z -
dc.date.created 2022-12-01 -
dc.date.issued 2022-10 -
dc.identifier.issn 2169-3536 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/17244 -
dc.description.abstract Recently, various intelligent technological innovations are being applied to smart factories. As manipulators are widely used in smart factories, the manipulator and the workspace of humans overlap, and interest in cooperative robots and human safety has increased. In relation to this, a collision-avoidance control algorithm applicable in three dimensions (3D) and that also meets existing safety standards for humans and robots is required. In this paper, we propose a 3D potential field-based manipulator collision avoidance algorithm that meets the requirements of the ISO 15066 standard. This algorithm applies Speed and Separation Monitoring(SSM) according to the distance between the manipulator and the obstacle and controls the speed of the manipulator slowly as the risk is higher. This allows us to overcome the limitations that existing studies have not been conducted on 3D potential field-based obstacle avoidance and that it is difficult to apply to the field without considering ISO 15066. The proposed system was verified through simulation and experiments, and through comparison with the existing algorithm, we verified that SSM was well applied to the proposed system. Author -
dc.language English -
dc.publisher Institute of Electrical and Electronics Engineers Inc. -
dc.title Manipulator Collision Avoidance System Based on a 3D Potential Field with ISO 15066 -
dc.type Article -
dc.identifier.doi 10.1109/ACCESS.2022.3221182 -
dc.identifier.scopusid 2-s2.0-85141568553 -
dc.identifier.bibliographicCitation IEEE Access, v.10, pp.126593 - 126602 -
dc.description.isOpenAccess TRUE -
dc.subject.keywordAuthor Manipulator -
dc.subject.keywordAuthor obstacle avoidance -
dc.subject.keywordAuthor artificial potential field -
dc.subject.keywordAuthor ISO 15066 -
dc.citation.endPage 126602 -
dc.citation.startPage 126593 -
dc.citation.title IEEE Access -
dc.citation.volume 10 -
Files in This Item:

There are no files associated with this item.

Appears in Collections:
Department of Robotics and Mechatronics Engineering Bio Robotics and Mechatronics Laboratory 1. Journal Articles

qrcode

  • twitter
  • facebook
  • mendeley

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE