Print Email Facebook Twitter Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction Title Real-time Collision Avoidance for Robot Manipulators by Braking Trajectory Prediction Author Zhu, J. Contributor Mansfeld, N. (mentor) Kober, J. (mentor) Faculty Mechanical, Maritime and Materials Engineering Department Delft Center for Systems and Control Programme System and Control Date 2015-11-24 Abstract The thesis contributes to the pre-collision strategies of robot manipulators by proposing a real-time implementable collision avoidance scheme. The collision is avoided by a braking controller that is activated by a braking trajectory predictor. The predictor provides distances of the end-effector to the object/human in the environment and braking is initiated when the predicted minimum distance to the object/human during braking is less than a certain threshold. Subject Collision avoidanceRobot manipulatorPrediction To reference this document use: http://resolver.tudelft.nl/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197 Part of collection Student theses Document type master thesis Rights (c) 2015 Zhu, J. Files PDF MscThesis_Jihong_Zhu.pdf 6.15 MB Close viewer /islandora/object/uuid:588b8c37-3a21-4a4c-b9e0-11298f5dc197/datastream/OBJ/view