Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-24T17:09:24.007Z Has data issue: false hasContentIssue false
  • English
  • Français

Collision-avoidance control for redundant articulated robots

Published online by Cambridge University Press:  09 March 2009

N. Rahmanian-Shahri  and
I. Troch
N. Rahmanian-Shahri
Affiliation:
Technical University Vienna, Wiedner Haupstrasse 8–10, A–1040 Wien (Austria)
I. Troch
Affiliation:
Technical University Vienna, Wiedner Haupstrasse 8–10, A–1040 Wien (Austria)
Get access Rights & Permissions [Opens in a new window]

Summary

A new mathematical formulation of robot and obstacles is presented such that for on-line collision recognition only robot joint positions in the workspace are required. This reduces calculation time essentially because joint positions in workspace can be computed every time from the joint variables through robot geometry. It is assumed that the obstacles in the workspace of the manipulator are represented by convex polygons. For every link of the redundant robot and every obstacle a boundary ellipse is defined in workspace such that there is no collision if the robot joints are outside this ellipsis.

In addition to this, a collision avoidance method is presented which allows the use of redundant degrees of freedom such that a manipulator can avoid obstacles while tracking the desired end-effector trajectory. The method is based on the generalized inverse with boundary ellipse functions as optimization criteria. The method permits the tip of the hand to approach any arbitrary point in the free space while the kinematic control algorithm maximizes the boundary ellipse function of the critical link. The effectiveness of the proposed methods is discussed by theoretical considerations and illustrated by simulations of the motion of three- and four-link planar manipulators between obstacles.

Keywords

Redundant robotsCollision-recognitionInverse kinematicsCollision-avoidance
Type
Articles
Information
Robotica , Volume 13 , Issue 2 , March 1995 , pp. 159 - 168
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Lozano-Perez, T., “Automatic planning of manipulator transfer movements” IEEE Trans, on SMC SMC-11, 681–698 (1981).Google Scholar
2.Lumelsky, V.J., “Effect of kinematics on motion planning for planar robot arms moving amidst unknown obstacles” IEEE J. Robotics and Automation RA-3, 207–223 (1987).CrossRefGoogle Scholar
3.Freund, E. and Hoyer, H., “Collision avoidance for industrial robots with arbitrary motion” J. Robotic Systems 1, 317–329 (1984).CrossRefGoogle Scholar
4.Gilbert, E.G. and Johnson, D.W., “Distance functions and their application to robot path planning in the presence of obstacles” IEEE J. Robotics and Automation RA-1, 21–29 (1985).CrossRefGoogle Scholar
5.Klein, C. and Huang, C., “Review of pseudoinverse control for use with kinematically redundant manipulators” IEEE Transactions on Systems, Man, and Cybernetics SMC-13, 245–250 (1983).CrossRefGoogle Scholar
6.Maciejewski, A.A. and Klein, C.A., “Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments,” Int. J. Robotics Research 4, 109–117 (1985).CrossRefGoogle Scholar
7.Nakamura, Y., Hanafusa, H.H. and Yoshikawa, T., “Task-priority based redundancy control of robot manipulators” Int. J. Robotics Research 6, 3–15 (1987).CrossRefGoogle Scholar
8.Kircanski, M. and Vukobratovic, M., “Contribution to control of redundant robotic manipulators in an environment environment with obstacles” Int. J. Robotics Research 5, 112–119 (1986).CrossRefGoogle Scholar
9.Lovass-Nagy, V. and Schilling, R., “Control of kinematically redundant robots using l-inverses” IEEE Trans. Systems, Man, and Cybernetics SMC-17, 4, 644–649 (1987).CrossRefGoogle Scholar
10.Walker, I. and Marcus, S., “Subtask performance for redundancy resolution for redundant robot manipulators” IEEE J. Robotics and Automation 4, 350–354 (1988).CrossRefGoogle Scholar
11.Anthimopoulou, M. and Aspragathos, N., “Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles” In: Advances in Robot Kinematics, (Stifter, S. and Lenarcic, J., eds.) (Springer Verlag, Berlin, 1990) pp. 380–391.Google Scholar
12.Baillieul, J., “Avoiding obstacles and resolving kinematic redundancy” Proc. IEEE Intern. Conf. on Robotics and Automation, San Francisco, CA. (04, 1986) pp. 1698–1704.Google Scholar
13.Chen, Y. and Vidyasagar, M., “Optimal control of robotic manipulators in the presence of obstacles” J. Robotic Systems 7(5), 721–740 (1990).CrossRefGoogle Scholar
14.Oh, S., Orin, D. and Bach, M., “An inverse kinematic solution for kinematically redundant robot manipulators” J. Robotic Systems 1, 235–249 (1987).CrossRefGoogle Scholar
15.Sciavicco, L. and Siciliano, B., “A solution algorithm to the inverse kinematic problem for redundant manipulators” IEEE J. Robotics and Automation 4, 403–410 (1988).CrossRefGoogle Scholar
16.Das, H., Slotine, J.-J. and Sheridan, T., “Inverse kinematic algorithms for redundant systems” Proc. IEEE Intern. Conf. on Robotics and Automation,Philadelphia, PA(April, 1988) pp. 43–48.Google Scholar
17.Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots” Int. J. Robotics Research 5, 90–98 (1986).CrossRefGoogle Scholar
18.Colbaugh, R., Seraji, H. and Glass, K. L., “Obstacle avoidance for redundant robots using configuration control” J. Robotic Systems 6(6), 721–744 (1989).CrossRefGoogle Scholar
19.Rahmanian-Shahri, N., “Steuerungsalgorithmen zur Vermeidung von Kollisionen der Glieder redundanter Roboter mit Hindernissen” Dissertation (Technical University, Vienna, 1993).Google Scholar
20.Liegeois, A., “Automatic supervisory control of the configuration and behavior of the multibody mechanisms” IEEE Transaction on Systems, Man, and Cybernetics SMC-7, 868–871 (1977).Google Scholar
21.Allgeuer, H., “Kinematische Steuerung von Robotern mit redundaten Freiheitsgraden” Dissertation, Technical University, Vienna (1992).Google Scholar