Obstacle avoidance control for redundant manipulators using collidability measure

We present an efficient obstacle avoidance control algorithm for redundant manipulators using a new measure called collidability measure. Considering moving directions of manipulator links, the collidability measure is defined as the sum of inverse of predicted collision distances between links and obstacles: This measure is suitable for obstacle avoidance since directions of moving links are as important as distances to obstacles. For kinematic or dynamic redundancy resolution, null space control is utilized to avoid obstacles by minimizing the collidability measure: We present a velocity-bounded kinematic control law which allows reasonably large gains to improve the system performance. Also, by clarifying decomposition in the joint acceleration level, we present a simple dynamic control law with bounded joint torques which guarantees tracking of a given end-effector trajectory and improves a kinematic cost function such as collidability measure. Simulation results are presented to illustrate the effectiveness of the proposed algorithm.
Publisher
CAMBRIDGE UNIV PRESS
Issue Date
2000
Language
ENG
Keywords

TORQUE OPTIMIZATION; ROBOTIC MECHANISMS

Citation

ROBOTICA, v.18, pp.143 - 151

ISSN
0263-5747
URI
http://hdl.handle.net/10203/970
Appears in Collection
EE-Journal Papers(저널논문)
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