A Dynamic Approach to Real-Time Obstacle Avoidance Control of Redundant Manipulators
نویسندگان
چکیده
منابع مشابه
Obstacle Avoidance for Redundant Manipulators as Control Problem
One of the goals of robotics research is to provide control algorithms that allow robotic manipulators to move in an environment with objects. The contacts with these objects may be part of the task, e.g. in the assembly operations, or they may be undesired events. If the task involves some contacts with the environment it is necessary to control the resulting forces. For that purpose, differen...
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The paper considers the behavior of redundant manipulators which collide with an obstacle and the obstacle avoidance after the collision. Without changing the motion of the end-effector, the reconfiguration of the manipulator into a collision-free configuration can be done only by utilizing the self-motion of the manipulator. In the paper some motion controllers are analyzed which minimize the ...
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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 a...
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Many tasks which manipulators must perform occur in the presence of obstacles. While a variety of algorithms for nonredundant and mildly redundant manipulators exist, little analysis has been performed for a class of robots with the most to offer in the area of obstacle avoidance: hyper-redundant manipulators. The term ‘nyper-redundant” refers to redundant manipulators with a very large, possib...
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This paper presents an on-line obstacle avoidance method for redundant robot manipulators with joint physical limits reflected as space state constraints. The proposed controller considers two parts. First a Cartesian PID is used to reach closed loop system stability. The second controller part considers an optimization problem divided in two sections. The first one considers the Cartesian posi...
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ژورنال
عنوان ژورنال: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
سال: 1996
ISSN: 1340-8062
DOI: 10.1299/jsmec1993.39.317