Hostname: page-component-586b7cd67f-g8jcs Total loading time: 0 Render date: 2024-11-22T07:47:30.226Z Has data issue: false hasContentIssue false
  • English
  • Français

Planning of collision-free movements of a manipulator with dynamic constraints

Published online by Cambridge University Press:  09 March 2009

H. Ozaki  and
A. Mohri
H. Ozaki
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University 36, 6–10–1, Hakozaki, Higashiku, Fukuoka (Japan)
A. Mohri
Affiliation:
Department of Mechanical Engineering Production Division, Faculty of Engineering, Kyushu University 36, 6–10–1, Hakozaki, Higashiku, Fukuoka (Japan)
Get access Rights & Permissions [Opens in a new window]

Abstract

SUMMARY

In this paper the joint trajectories of a manipulator, which avoids obstacles in the work space and follows given path, are planned considering the dynamics of the manipulator system. The planning problem has four types of constraints: collision-free conditions, structural joints movable ranges, joints velocity limits and actuators input limits. This problem is formulated using artificial potentials which give feasible joint movements under these constraints. An algorithm using the linear programming is given to solve the problem. This algorithm enables the successive adjustment of the weighting factors of artificial potentials and gives the desired joint trajectories. The algorithm is effectively applied to the planar movements of a manipulator with four links and four degrees of freedom.

Type
Articles
Information
Robotica , Volume 4 , Issue 3 , July 1986 , pp. 163 - 169
Copyright
Copyright © Cambridge University Press 1986

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.Udupa, S.M., “Collision detection and avoidance in computer controlled manipulators” 5th Int'l. Joint Conf. on Artificial Intelligence, 737–748 (1977).Google Scholar
2.Lozano-Pérez, T., “Automatic planning of manipulator transfer movements” IEEE Trans. on SMC 11, No. 10, 681–698 (1981).Google Scholar
3.Ozaki, H., Mohri, A. and Takata, M., “On the collision-free movement of a manipulator” Procs. of Int'l Meeting on Advanced Software in Robotics (1983).Google Scholar
4.Luh, J.Y.S. and Campbell, C. Jr, “Minimum distance collision-free path planning for industrial robots with a prismatic joint” IEEE Trans. on AC 29, No. 8, 675–680 (1984).CrossRefGoogle Scholar
5.Red, W.E., “The configuration space approach to robot path planning” Procs. of Amer. Contr. Conf. 288–295 (1984).CrossRefGoogle Scholar
6.Dubowsky, S. and Shiller, Z., “Optimum dynamic trajectories for robotic manipulators” Procs. of RoManSy, 5th CISM–IFToMM Symp. 133–143 (1984).CrossRefGoogle Scholar
7.Shin, K.G. and McKay, N.D., “Minimum-time control of robotic manipulators with geometric path constraints” IEEE Trans. on AC 30, No. 6, 531–541 (1985).CrossRefGoogle Scholar
8.Khatib, O. and Maitre, J.F. Le, “Dynamic control of manipulators operating in a complex environment” Procs. of RoManSy, 3rd CISM–IFToMM Symp. 267–282 (1978).Google Scholar
9.Paul, R.P., Robot manipulators: mathematics, programming, and control (The MIT Press, Cambridge, Massachusetts, 1981).Google Scholar
10.Luh, J.Y.S., “Conventional controller design for industrial robots – a tutorial” IEEE Trans. on SMC 13, No. 3, 298–316 (1983).Google Scholar
11.Takegaki, M. and Arimoto, S., “A new feedback method for dynamic control of manipulators” Trans. of ASME G 102 119–125 (1981).Google Scholar