Yi-Hung Lee

Real-time Obstacle Avoidance with a Virtual Torque Approach for a Robotic Tool in the End Effector

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…