Obstacle avoidance of underactuated robots based on virtual spring-damper model

Author

Liu, Qingbo ; Yu, Yueqing ; Xu, Zihong ; Su, Liying

Author_Institution

Coll. of Mech. Eng.&Appl. Electron. Technol., Beijing Univ. of Technol., Beijing

fYear

2008

fDate

25-27 June 2008

Firstpage

3213

Lastpage

3217

Abstract

A new method based on virtual spring-damper model is proposed for collision-free trajectory planning of planar underactuated robots. The generalized forces of nonholonomic constraints equations are modified by the virtual spring-damper model when there are obstacles in workspace. The partly stable controllers are adopted and the energy based fitness function is built, then the best switching sequence of partly stable controllers are obtained by genetic algorithm. Numerical simulations which are carried out on the planar 3R underactuated robots show effectiveness of the proposed method.

Keywords

collision avoidance; genetic algorithms; robots; vibration control; collision-free trajectory planning; energy based fitness function; genetic algorithm; nonholonomic constraint equation; obstacle avoidance; planar underactuated robot; virtual spring-damper model; Educational institutions; Equations; Genetic algorithms; Hydrogen; Intelligent control; Intelligent robots; Mechanical engineering; Numerical simulation; Robotics and automation; Trajectory; genetic algorithm; obstacle avoidance; underactuated;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on

Conference_Location

Chongqing

Print_ISBN

978-1-4244-2113-8

Electronic_ISBN

978-1-4244-2114-5

Type

conf

DOI

10.1109/WCICA.2008.4593436

Filename

4593436