Experiments in reflex control for industrial manipulators

Experiments in automatic collision avoidance for robots using acceleration-based reflex control are described. Acceleration-based reflex control responds to acceleration commands from higher levels, as opposed to prior reflex control approaches based on position commands from higher levels. Reflex control is exerted in configuration space and assumes either inherent dynamic decoupling of the robot links or feedback decoupling. Implementation of acceleration-based reflex control for 3-D collision avoidance using a General Electric GP132 robot is described. Collision avoidance with respect to stationary obstacles is guaranteed. In addition, performance measurements illustrate how the reflexes introduce no significant distortion to higher-level controllers when reflex action is not required