Abstract
A simple and robust approach to online collision avoidance for kinematically redundant manipulators is presented. The scheme represents obstacles as inequality constraints in the manipulator workspace and ensures that these inequalities are satisfied while the end-effector tracks the desired trajectory. The control scheme is the damped-least-squares formulation of the configuration control approach implemented as a kinematic controller. Computer simulation results are given for a seven-degree-of-freedom redundant arm and demonstrate the collision-avoidance capability for reaching inside a truss structure. Experimental results confirming that the approach provides a simple and effective method for online collision avoidance are presented. >
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
