Impact mitigation using kinematic constraints and the full space parameterization method

Author

Morgansen, Kristi A. ; Pin, François G.

Author_Institution

Oak Ridge Nat. Lab., TN, USA

Volume

2

fYear

1996

fDate

22-28 Apr 1996

Firstpage

1897

Abstract

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as full space parameterization (FSP). System performance criteria and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerations could occur as the manipulator is halted joint acceleration bounds are imposed to simulate physical actuator limitations. Simulation results are presented for the case of a simple redundant planar manipulator

Keywords

force control; manipulator kinematics; redundancy; full space parameterization method; impact mitigation; joint accelerations; kinematic constraints; redundant manipulator; redundant planar manipulator; system performance criteria; unexpected impact; Acceleration; Actuators; End effectors; Force control; Kinematics; Laboratories; Manipulators; Redundancy; Robots; System performance;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on

Conference_Location

Minneapolis, MN

ISSN

1050-4729

Print_ISBN

0-7803-2988-0

Type

conf

DOI

10.1109/ROBOT.1996.506988

Filename

506988