Abstract
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system.
Highlights
In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control
Collaborative robotics involves specific techniques to control robots working in a dynamic environment that is not known in advance and to modify planned motions to avoid collisions with humans and obstacles [1]
This study proposes a control strategy for obstacle avoidance in redundant manipulators using a combination of off-line path planning and an on-line motion control algorithms
Summary
A comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. Collaborative robotics involves specific techniques to control robots working in a dynamic environment that is not known in advance and to modify planned motions to avoid collisions with humans and obstacles [1]. When a manipulator is intended to work in environments in which potential obstacles may interfere with its motion, a certain degree of redundancy is useful for its kinematic reconfiguration [2]. Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations
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