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