Title :
On-line collision avoidance for redundant manipulators
Author :
Glass, K. ; Colbaugh, R. ; Lim, D. ; Seraji, H.
Author_Institution :
New Mexico State Univ., Las Cruces, NM, USA
Abstract :
A simple and robust approach to online collision avoidance for kinematically redundant manipulators is presented. The scheme represents obstacles as inequality constraints in the manipulator workspace and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is the damped-least-squares formulation of the configuration control approach implemented as a kinematic controller. Computer simulation results are given for a seven-degree-of-freedom redundant arm and demonstrate the collision-avoidance capability for reaching inside a truss structure. Experimental results confirming that the approach provides a simple and effective method for online collision avoidance are presented
Keywords :
position control; redundancy; robots; 7-d.o.f. arm; configuration control; damped-least-squares formulation; end-effector; inequality constraints; kinematic controller; kinematically redundant manipulators; manipulator workspace; online collision avoidance; seven-degree-of-freedom redundant arm; trajectory tracking; truss structure; Collision avoidance; Inspection; Kinematics; Laboratories; Manipulators; Orbital robotics; Propulsion; Robot control; Robot sensing systems; Trajectory;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291958
