Title :
Real-time collision free trajectory planning
Author_Institution :
Canadian Space Agency, Ottawa, Ont., Canada
Abstract :
In this paper, collision-free robot trajectories are generated by taking into account the total robot dynamics, the robot constraints such as torque and joint limits, and avoidance of singular configurations. Four virtual impedances are generated by modulating the force/torque output of the robot actuators: (i) Impedance between the end-effector and the destination point to generate straight line trajectory in operational space; (ii) impedances between the arm links and the obstacles which are within the specified zone of influence for collision avoidance; (iii) impedances for robot joint constraints; and finally for (iv) configuration singularities
Keywords :
path planning; real-time systems; robots; arm links; collision avoidance; configuration singularities; end-effector; force/torque output; impedance; joint limits; real-time collision free trajectory planning; robot actuators; robot joint constraints; robot trajectories; singular configuration avoidance; straight line trajectory; torque limits; total robot dynamics; virtual impedances; Computational modeling; Computer simulation; Equations; Impedance; Jacobian matrices; Orbital robotics; Robot kinematics; Robotics and automation; Trajectory; Vectors;
Conference_Titel :
Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean
Conference_Location :
Antalya
Print_ISBN :
0-7803-1772-6
DOI :
10.1109/MELCON.1994.380893
