Avoidance of obstacles and joint limits for end-effector tracking in redundant manipulators

Author

Chen, Jin Liang ; Liu, Jing Sin

Author_Institution

Inst. of Inf. Sci., Acad. Sinica, Taipei, Taiwan

Volume

2

fYear

2002

fDate

2-5 Dec. 2002

Firstpage

839

Abstract

Gradient projection technique has been widely used in kinematic control of redundant robot. In this paper, a novel objective function of joint velocity and position is designed for use in gradient projection technique to avoid obstacles and joint limits. The homogeneous solution component of inverse kinematics generated by this method contains one component with magnitude proportional to joint velocity. This feature makes faster joint motions approaching obstacles and joint limits in time. Simulations demonstrate the validity of performance criteria and effectiveness of the kinematic control method.

Keywords

collision avoidance; end effectors; gradient methods; redundant manipulators; tracking; velocity control; end effector tracking; gradient projection technique; homogeneous solution; joint limits; joint motions; joint velocity; kinematic control; objective function; obstacle avoidance; performance criteria; redundant manipulators; Collision avoidance; Equations; Fuzzy control; Information science; Interference constraints; Jacobian matrices; Kinematics; Manipulators; Robot control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on

Print_ISBN

981-04-8364-3

Type

conf

DOI

10.1109/ICARCV.2002.1238531

Filename

1238531