Title :
A novel autonomous obstacle avoidance path planning method for manipulator in joint space
Author :
Gang Chen ; Qingxuan Jia ; Peichang Ye ; Hanxu Sun
Author_Institution :
Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China
Abstract :
This paper presents a novel autonomous obstacle avoidance algorithm for robotic manipulators in joint space. First, a method is proposed to obtain collision-free configuration of manipulator that converts point to point task into path planning problem of manipulators in joint space. Then, an interpolating polynomial is used for manipulator to plan a smooth trajectory in joint space. Last, a novel autonomous obstacle avoidance algorithm based on a simple piecewise function is proposed to solve obstacles avoidance problem in joint space. Simulation results clearly demonstrate the efficiency of the proposed method.
Keywords :
collision avoidance; manipulators; autonomous obstacle avoidance algorithm; autonomous obstacle avoidance path planning method; collision-free configuration; interpolating polynomial; joint space; obstacles avoidance problem; path planning problem; piecewise function; robotic manipulators; smooth trajectory; Collision avoidance; Jacobian matrices; Joints; Kinematics; Manipulators; Trajectory; autonomous obstacle avoidance; inverse kinematic; joint space; robotic manipulator; trajectory planning;
Conference_Titel :
Industrial Electronics and Applications (ICIEA), 2014 IEEE 9th Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4799-4316-6
DOI :
10.1109/ICIEA.2014.6931474
