Journal ArticleDOI
Real-time collision avoidance for redundant manipulators
Kristin Glass,Richard Colbaugh,David Lim,Homayoun Seraji +3 more
- Vol. 11, Iss: 3, pp 448-457
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This paper presents a simple and robust approach to achieving collision avoidance for kinematically redundant manipulators at the control-loop level that 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.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. >read more
Citations
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Journal ArticleDOI
Vibration suppression control of redundant manipulator with flexible structure by considering nullspace motion
Koji Sasaki,Toshiyuki Murakami +1 more
TL;DR: In this article, a vibration suppression strategy using a workspace observer and resonance ratio control based on nullspace control is proposed to suppress the vibration of a redundant manipulator by using a resonance ratio controller.
Journal ArticleDOI
Decentralized Adaptive Control of Mechanical Systems
Richard Colbaugh,Kristin Glass +1 more
TL;DR: Two new adaptive schemes for the motion control of an important class of mechanical systems are presented that do not require knowledge of the system dynamic model, are extremely simple computationally, and can be implemented with a wide variety of systems.
Journal ArticleDOI
A Unified Framework for Overcoming Motion Constraints of Robots Using Task Transition Algorithm
TL;DR: A unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles is proposed and a method for avoiding obstacles is developed to combine it into the framework to consider four motion constraint simultaneously.
Proceedings ArticleDOI
A novel variational approach for collision-free trajectory planning of robot manipulators
TL;DR: A mathematical framework for the variational approach for collision free trajectory planning of a robot manipulator is established, examined from an engineering perspective and the importance of the dynamic characteristics of the system is demonstrated.
Proceedings Article
Real time path planning for the constrained motion of fault tolerant robot manipulators
TL;DR: In this paper, a fault tolerant motion controller (FTM) is proposed for real-time path planning of under-actuated robots, which is solved in parallel with an optimization technique in real time.
References
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Journal ArticleDOI
Real-time obstacle avoidance for manipulators and mobile robots
TL;DR: This paper reformulated the manipulator con trol problem as direct control of manipulator motion in operational space—the space in which the task is originally described—rather than as control of the task's corresponding joint space motion obtained only after geometric and geometric transformation.
Journal ArticleDOI
Inverse kinematic solutions with singularity robustness for robot manipulator control
Journal ArticleDOI
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
TL;DR: In this paper, the joint angle rates for a manipulator under the constraints of multiple goals, the primary goal described by the specified end-effector trajectory and secondary goals describ ing the obstacle avoidance criteria.
Journal ArticleDOI
Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
TL;DR: To overcome the difficulties encountered near kinematic singularities, the exact inverse problem is reformulated as a damped least-squares problem, which balances the error in the solution against the size of the solution.
Journal ArticleDOI
Configuration control of redundant manipulators: theory and implementation
TL;DR: The configuration control scheme is implemented for real-time control of three links of a PUMA 560 industrial robot, and experimental results are presented and discussed, and its capabilities for performing various realistic tasks are demonstrated.