Title :
Reflexive collision avoidance for a novel parallel manipulator
Author :
Chuckpaiwong, Ittichote ; Newman, Wyatt S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Case Western Reserve Univ., Cleveland, OH, USA
Abstract :
Presents an approach to analysis and control of ParaDex, a 7-DOF closed-chain manipulator. The collision states of the manipulator were analyzed to construct the 7-D C-space, and this space was represented in a compact and efficient form. Fast, real-time interference evaluation was implemented and tested on the manipulator. The workspace analysis suggests how to optimize use of the kinematic redundancy. Based on the derived C-space, online collision avoidance was enabled. For quasi-static conditions, virtual repulsion from C-space obstacles insulate the boundaries of configuration space. For higher-speed dynamics, an online look-ahead algorithm is described that takes into account the manipulator dynamics and the actuator saturation limitations
Keywords :
collision avoidance; manipulator dynamics; redundant manipulators; 7 DOF closed-chain manipulator; 7D C-space; ParaDex. parallel platform manipulator; actuator saturation limitations; collision states; kinematic redundancy; manipulator dynamics; online collision avoidance; online look-ahead algorithm; real-time interference evaluation; reflexive collision avoidance; workspace analysis; Collision avoidance; Flanges; Hydraulic actuators; Insulation; Interference; Joining processes; Kinematics; Manipulator dynamics; Testing; Torque;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.977161
