Title :
Whole-arm reactive collision avoidance control of kinematically redundant manipulators
Author :
Boddy, C.L. ; Taylor, J.D.
Author_Institution :
Advanced Robotics Res. Ltd., Salford, UK
Abstract :
The key features of a control system being developed for whole arm collision avoidance for kinematically redundant manipulators are described. The control system simultaneously deals with multiple detections and provides controlled end-effector path deviation in the event that the range of self-motion available is not sufficient. The system has undergone extensive simulation using an animated model of a manipulator in a variety of workcells. Examples are given
Keywords :
control system analysis; manipulators; navigation; position control; animated model; end-effector; kinematically redundant manipulators; path deviation; whole arm collision avoidance; Animation; Collision avoidance; Control system synthesis; Control systems; Event detection; Kinematics; Manipulators; Real time systems; Robot control; Robot sensing systems;
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.1993.292203
