DocumentCode :
791584
Title :
Real-time collision avoidance for redundant manipulators
Author :
Glass, K. ; Colbaugh, R. ; Lim, D. ; Seraji, H.
Author_Institution :
Dept. of Mech. Eng., New Mexico State Univ., Las Cruces, NM, USA
Volume :
11
Issue :
3
fYear :
1995
fDate :
6/1/1995 12:00:00 AM
Firstpage :
448
Lastpage :
457
Abstract :
This paper presents a simple and robust approach to achieving collision avoidance for kinematically redundant manipulators at the control-loop level. The proposed scheme represents the obstacle avoidance requirement as inequality constraints in the manipulator workspace, and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is the damped-least-squares formulation of the configuration control approach implemented as a kinematic controller. Computer simulation and experimental results are given for a Robotics Research 7 DOF redundant arm and demonstrate the collision avoidance capability for reaching inside a truss structure. These results confirm that the proposed approach provides a simple and effective method for real-time collision avoidance
Keywords :
least squares approximations; manipulator kinematics; path planning; real-time systems; redundancy; Robotics Research 7 DOF redundant arm; collision avoidance capability; control-loop level; damped-least-squares formulation; end-effector trajectory tracking; kinematically redundant manipulators; obstacle avoidance; real-time collision avoidance; truss structure; Automatic control; Collision avoidance; Inspection; Jacobian matrices; Manipulators; Mobile robots; Orbital robotics; Robotics and automation; Space stations; Space technology;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.388789
Filename :
388789
Link To Document :
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