Constraint Compliant Control for a Redundant Manipulator in a Cluttered Environment

被引：3

作者：

Rubrecht, S. ^{[1
]}

Padois, V. ^{[1
]}

Bidaud, P. ^{[1
]}

de Broissia, M. ^{[2
]}

机构：

[1] Univ Paris 06, Inst Syst Intelligents & Robot, Paris, France

[2] Bouygues Travaux Publ, F-78280 Guyancourt, France

来源：

ADVANCES IN ROBOT KINEMATICS: MOTION IN MAN AND MACHINE | 2010年

关键词：

Redundancy resolution; inverse velocity kinematics; control; OBSTACLE AVOIDANCE;

D O I：

10.1007/978-90-481-9262-5_39

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 present an iterative kinematics control law for redundant manipulators overcoming some usual problems associated to cluttered environments (constraints violations, oscillations, environment dilatation). The Constraints Compliant Control approach relies on a passive avoidance scheme (no motion generation for constraints avoidance) on a limited number of constraints selected from a vicinity analysis. A solution scaling based on the feasible motions with respect to the constraints enables to reach the frontiers of the workspace. Two missions described as sequences of key frames are simulated to compare the performances of the Constraint Compliant Control with state of the art control laws. The obtained computation times remain acceptable to consider a use in real time.

引用

页码：367 / +

页数：2

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