Title :
Dextrous motion control of a redundant SCARA robot
Author :
Risse, Wolfgang ; Hiller, Manfred
Author_Institution :
Inst. fur Mech., IMECH GmbH, Moers, Germany
fDate :
31 Aug-4 Sep 1998
Abstract :
A kinematically redundant SCARA type robot with increased manoeuvrability provided by an additional axis is presented. By means of a dextrous motion control approach the extra degree of freedom is used to perform several secondary goals in order to maintain the system availability even in restricted configurations. For this purpose the primary end-effector task is enhanced by an appropriate homogeneous motion from a gradient projection onto the Jacobian null space. Different performance criteria are used to avoid joint limits, singularities or nonconservative joint motions. In order to enable safe manipulation in restricted environments the robot arm is prevented from colliding with work space obstacles represented by artificial potential fields
Keywords :
collision avoidance; industrial robots; motion control; redundancy; robot kinematics; Jacobian null space; artificial potential fields; collision avoidance; dextrous motion control; gradient projection; homogeneous motion; kinematically redundant SCARA type robot; manoeuvrability; nonconservative joint motions; primary end-effector task; redundant SCARA robot; restricted configurations; restricted environments; system availability; work space obstacles; Availability; Control systems; Employment; Jacobian matrices; Laboratories; Motion control; Null space; Orbital robotics; Robots; Symmetric matrices;
Conference_Titel :
Industrial Electronics Society, 1998. IECON '98. Proceedings of the 24th Annual Conference of the IEEE
Conference_Location :
Aachen
Print_ISBN :
0-7803-4503-7
DOI :
10.1109/IECON.1998.724110
