Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II : Collision Avoidance with Reduced Dimensional Guidance

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review

2 Scopus Citations
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Author(s)

Detail(s)

Original languageEnglish
Article number7869307
Pages (from-to)5534-5544
Journal / PublicationIEEE Transactions on Industrial Electronics
Volume64
Issue number7
Online published2 Mar 2017
Publication statusPublished - Jul 2017

Abstract

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.

Research Area(s)

  • Collision avoidance, dimensional reduction, distance computation

Bibliographic Note

Full text of this publication does not contain sufficient affiliation information. With consent from the author(s) concerned, the Research Unit(s) information for this record is based on the existing academic department affiliation of the author(s).

Citation Format(s)

Motion Control for Cylindrical Objects in Microscope's View Using a Projection Method-II : Collision Avoidance with Reduced Dimensional Guidance. / Xing, Dengpeng; Liu, Fangfang; Liu, Song; Xu, De.

In: IEEE Transactions on Industrial Electronics, Vol. 64, No. 7, 7869307, 07.2017, p. 5534-5544.

Research output: Journal Publications and Reviews (RGC: 21, 22, 62)21_Publication in refereed journalpeer-review