Title :
An approach for flexible manipulator obstacle avoidance by means of spheres of influence
Author :
Karray, F. ; Modi, V.
Author_Institution :
Dept. of Electr. Eng., Lakehead Univ., Thunder Bay, Ont., Canada
Abstract :
An approach for path planning and end-point control for an orbiting 2-link flexible manipulator, with a specified target and several arbitrarily positioned obstacles is proposed. The presence of link vibrations makes the problem more challenging. The problem involves generation of regions (contours) representing spheres of influence around the finite size obstacles, with various degrees of permissible penetrations during path planning to the target. Penalty functions are assigned to satisfy pre-defined performance specifications. Effectiveness of the collision avoidance scheme is illustrated through numerical simulation runs
Keywords :
aerospace control; flexible structures; mobile robots; path planning; robot kinematics; telerobotics; collision avoidance; end-point control; flexible manipulator; link vibrations; obstacle avoidance; path planning; penalty functions; space robotics; spheres of influence; Collision avoidance; Control systems; Equations; Lakes; Manipulator dynamics; Orbital robotics; Path planning; Payloads; Space stations; Vibrations;
Conference_Titel :
American Control Conference, Proceedings of the 1995
Print_ISBN :
0-7803-2445-5
DOI :
10.1109/ACC.1995.529377
