|
| 论文编号: |
|
| 第一作者所在部门: |
|
| 中文论文题目: |
Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance
|
| 英文论文题目: |
Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II: Collision Avoidance With Reduced Dimensional Guidance
|
| 论文题目英文: |
|
| 作者: |
Xing, Dengpeng
|
| 论文出处: |
|
| 刊物名称: |
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
|
| 年: |
2017
|
| 卷: |
64 |
| 期: |
7 |
| 页: |
5534-5544 |
| 联系作者: |
|
| 收录类别: |
|
| 影响因子: |
|
| 摘要: |
This paper intends to use lower dimensional information to accurately compute higher dimensional distance, based on which presents a motion controller to avoid collision. This work is useful for precise computation and fast response required by motion control in microscope's view. We propose a projection method to use planar contours or even to transfer to a one-dimensional (1-D) searching problem to quickly obtain 3-D distance vector between cylindrical or cylinder enveloped objects, and as a result 11 cases are classified in total. Using distance as the basis of the repulsion force, we present a motion controller combining forces of attraction, repulsion, stuck, and detach to generate motion in the micro-operational space. Simulations and experiments are carried out to demonstrate their validity. |
| 英文摘要: |
|
| 外单位作者单位: |
|
| 备注: |
|
关闭窗口 |
|
