REAL-TIME COLLISION-AVOIDANCE FOR REDUNDANT MANIPULATORS

被引:57
|
作者
GLASS, K [1 ]
COLBAUGH, R [1 ]
LIM, D [1 ]
SERAJI, H [1 ]
机构
[1] CALTECH, JET PROP LAB, PASADENA, CA 91109 USA
来源
关键词
D O I
10.1109/70.388789
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a simple and robust approach to achieving collision avoidance for kinemetically 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.
引用
收藏
页码:448 / 457
页数:10
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