Hostname: page-component-cd9895bd7-q99xh Total loading time: 0 Render date: 2024-12-23T02:34:22.844Z Has data issue: false hasContentIssue false
  • English
  • Français

Collision-free motion planning for two articulated robot arms using minimum distance functions

Published online by Cambridge University Press:  17 August 2017

C. Chang ,
M. J. Chung  and
Z. Bien
C. Chang
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
M. J. Chung
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
Z. Bien
Affiliation:
Dept. of Electrical Engineering, Korea Advanced Institute of Science and Technology P.O. Box 150. Cheongryangni, Seoul (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a collision-free motion planning method of two articulated robot arms in a three dimensional common work space. Each link of a robot arm is modeled by a cylinder ended by two hemispheres, and the remaining wrist and hand is modeled by a sphere. To describe the danger of collision between two modeled objects, minimum distance functions, which are defined by the Euclidean norm, are used. These minimum distance functions are used to describe the constraints that guarantee no collision between two robot arms. The collision-free motion planning problem is formulated as a pointwise constrained nonlinear minimization problem, and solved by a conjugate gradient method with barrier functions. To improve the minimization process, a simple grid technique is incorporated. Finally, a simulation study is presented to show the significance of the proposed method.

Keywords

Robot armsCollision-free motionBarrier functionsMinimum distance functions
Type
Research Article
Information
Robotica , Volume 8 , Issue 2 , April 1990 , pp. 137 - 144
Copyright
Copyright © Cambridge University Press 1990

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. and Wesley, M.A., “An algorithm for planning collision-free paths among polyhedral obstacles” Communications of the ACM 22, No. 10, 560–570 (10, 1979).Google Scholar
2. Lozano-Perez, T., “Automatic planning of manipumulator transfer movements” IEEE Trans. SMC 11, 681–698 (10, 1981).Google Scholar
3. Id.,“Spatial planning: A Configuration approach” IEEE Trans. Comp. C-32, 108–120 (02, 1983).Google Scholar
4. Id., “A simple motion-planning algorithm for general robot manipulators” IEEE J. Robot Automation RA-3, No. 3 (06, 1987).Google Scholar
5. Brooks, R.A., “Solving the find-path problem by good representation of free space” IEEE Trans. SMC 13, 190–197 (03, 1983).Google Scholar
6. Faverjon, B., “Obstacle avoidance using an octree in the configuration space of a manipulator” Proc. IEEE Int. Conf. Robotics and Automation 504–512 (1984).Google Scholar
7. Khatib, O., “Real-time obstacle avoidance for manipulators and mobile robots” Int. J. Robotics Research 5, 90–908 (1986).CrossRefGoogle Scholar
8. Gilbert, E.G. and Johnson, D.W., “Distance functions and their application to robot path planning in the presence of obstacles” IEEE J. Robot Automation 1, 21–30 (03, 1985).Google Scholar
9. Lumelsky, V.J., “Dynamic path finding for a planar articulated robot arm moving amidst unknown obstacles” IEEE J. AUTOMATICA 23, No. 5, 551–570 (1988).Google Scholar
10. Freund, E. and Hoyer, H., “Pathfinding in multi-robot systems: solution and applications” Proc. IEEE Int. Conf. Robotics and Automation 103–111 (1986)Google Scholar
11. Lee, B.H. and Lee, C.S.G., “Collision-free motion planning of two robots” IEEE Trans. SMC 17, No. 1, 21–32, (01/02, 1987).Google Scholar
12. Paul, R.P., “Manipulator Cartesian path control” IEEE Trans. SMC SMC-9, No. 11, 702–711 (1979).Google Scholar
13. Lin, C.S., Chang, P.R. and Luh, J.Y.S., “Formulation and optimization of cubic polynomial joint trajectories for industrial robots” IEEE Trans. AC AC-28, No. 12, 1066–1073 (12 1983).Google Scholar
14. Shin, K.G. and Mackay, N.D., “A dynamic programming approach to trajectory planning of robotic manipulators” IEEE Trans. AUTOMATICA AC-31, No. 6, 491–500 (06 1986).Google Scholar
15. Lumelsky, V.J., “On fast computation of distance between line segments” Info. Proc. Letters 21, 55–61 (1985).CrossRefGoogle Scholar
16. Luenberger, D.G., Linear and Nonlinear Programming (Addison-Wesley, Amsterdam, 1984).Google Scholar
17. Lee, C.S.G., “Robot Arm Kinematics” In: Tutorial on Robotics (Lee, C.S.G., Gonzalaz, R.C. and Fu, F.S., eds., IEEE Computer Society Press, New York, 1984) 47–65.Google Scholar