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

fYear

1993

fDate

2-6 May 1993

Firstpage

36

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291958

Filename

291958