Real-time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector
Yi-Hung Lee Kai-Tai Song Yi-Hung Lee Kai-Tai Song
This paper proposes a real-time obstacle avoidance control scheme for a 6-DOF manipulator with a tool in the end effector. The system consists of environment monitoring, robot-tool segmentation and collision-free motion planning of the manipulator. A Kinect V2 RGB-D camera is used to track obstacles including human and objects in the working environment. The K-D tree algorithm is then adopted to c...