Redundant Robot Manipulator Control with Obstacle Avoidance Using Extended Jacobian Method

被引：14

作者：

Benzaoui, M. ^{[1
]}

Chekireb, H. ^{[1
]}

Tadjine, M. ^{[1
]}

机构：

[1] Univ Mhamed Bougara, FSI, DGEE, Boumerdes, Algeria

来源：

18TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION | 2010年

关键词：

SINGULARITIES;

D O I：

10.1109/MED.2010.5547696

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we develop a control of a redundant robot manipulator. That has to carry out a trajectory tracking in operational space while avoiding an obstacle. For this purpose, extended Jacobian method is used. The Self-motion vector is introduced at the level of the inverse kinematic solution in order to produce the obstacle avoidance (the secondary task). Thus, robot avoids obstacles without influencing the main task (trajectory tracking). The self-motion is computed from the optimization of scalar function depending on an anti collision constraint. Finally, this control method has leaded to a trajectory tracking in Cartesian space while avoiding the obstacle.

引用

页码：371 / 376

页数：6

共 12 条

[1]

Armstrong B., 1986, IEEE INT C ROB AUT, P510

[2] On-line multi-criteria based collision-free posture generation of redundant manipulator in constrained workspace [J].