A geometrical bounded method for the on-line obstacle avoidance of redundant manipulators

Author

Mayorga, René V.

Author_Institution

Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada

Volume

3

fYear

1997

fDate

7-11 Sep 1997

Firstpage

1700

Abstract

In this article a fast, geometrically bounded, method for the online obstacle avoidance of redundant manipulators is presented. The approach is based on formulating an inverse kinematics problem under an inexact context. This approach allows to deal with the avoidance of obstacles utilizing an appropriate and easy to calculate null space, geometrically bounded based, vector; whereas the avoidance of singularities is attained by the proper pseudoinverse robustness. Here the computation of the inverse kinematics problem is accomplished by solving numerically a linear system, which includes the vector for obstacle avoidance and a proper scheme for the proper pseudoinverse robustness. The developed algorithm is successfully tested on the simulation of a 7 DOF redundant manipulator

Keywords

computational complexity; computational geometry; inverse problems; manipulator kinematics; path planning; redundancy; 7-DOF redundant manipulator; fast geometrically-bounded method; inverse kinematics problem; linear system; null space vector; online obstacle avoidance; proper pseudoinverse robustness; singularity avoidance; Design engineering; Kinematics; Least squares methods; Linear systems; Manipulators; Null space; Robustness; Systems engineering and theory; Testing; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1997. IROS '97., Proceedings of the 1997 IEEE/RSJ International Conference on

Conference_Location

Grenoble

Print_ISBN

0-7803-4119-8

Type

conf

DOI

10.1109/IROS.1997.656588

Filename

656588