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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TLDR
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
Dynamic Analysis of a Macro–Micro Redundantly Actuated Parallel Manipulator
Hamid D. Taghirad,Meyer Nahon +1 more
TL;DR: In the closed-loop simulations using decentralized PD controllers at the macro and micro levels, it is shown that the macro-micro structure results in a 10 times more accurate positioning than that in the first stage of the macro–micro structure.
Journal ArticleDOI
A collision-avoidance scheme for redundant manipulators: Theory and experiments
TL;DR: The development of a collision- and self-collision-avoidance scheme for redundant manipulators is discussed in this paper and the performance of the proposed scheme is demonstrated for a seven degrees-of-freedom redundant manipulator via simulations and experiments.
Journal ArticleDOI
Dynamic design, numerical solution and effective verification of acceleration-level obstacle-avoidance scheme for robot manipulators
Lin Xiao,Yunong Zhang +1 more
TL;DR: Four path-tracking tasks based on the PA10 robot in the presence of point and window-shaped obstacles demonstrate the effectiveness and accuracy of the acceleration-level obstacle-avoidance scheme and validate the superiority of the proposed scheme.
Journal ArticleDOI
Adaptive regulation of manipulators using only position measurements
TL;DR: The adaptive regulation and tracking schemes have been implemented in laboratory experiments with an IMI Zebra Zero manipulator and it is shown that the adaptive controller can be modified to provide accurate trajectory track ing control through the introduction of feedforrvard elements in the control law.
Proceedings ArticleDOI
Minimum-Energy Redundancy Resolution of Robot Manipulators Unified by Quadratic Programming and its Online Solution
Yunong Zhang,Shugen Mai +1 more
TL;DR: In this article, the authors present the latest result regarding the unification of minimum-energy redundancy resolution of robot manipulators via a quadratic program, which is general in the sense that it incorporates equality, inequality and bound constraints simultaneously.
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.
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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.