Collision avoidance analysis of reachable workspaces for redundant manipulators

Author

Jou, Chi-Cheng ; Lin, Cheng-Jian ; Young, Kuu-Young

Author_Institution

Dept. of Control. Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan

fYear

1991

fDate

19-22 June 1991

Firstpage

1222

Abstract

Presents an analysis of reachable workspaces for redundant robot manipulators in the presence of obstacles. By taking advantage of the redundancy, a robot can continuously change its configuration so that the desired position of the end point is kept fixed. With this capability, the reachable workspace of a redundant robot is characterized based on the spatial relations between the links of the robot and predefined obstacles. A method for computing the collision-free region and obstructed region of the end point of a redundant robot is presented. To demonstrate the proposed method, the analysis based on a 3R planar robot and disk-like obstacles is worked out in detail. The results obtained can be applied to determine the layout of robot tasks to prevent collisions between the links of the redundant robot and obstacles.<>

Keywords

control system analysis; manipulators; position control; redundancy; 3R planar robot; collision avoidance; collision-free region; position control; reachable workspaces; redundancy; redundant manipulators; redundant robot; Collision avoidance; Control engineering; Councils; Couplings; Fingers; Impedance; Kinematics; Manipulators; Motion planning; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240388

Filename

240388