Acceleration-Level Obstacle Avoidance of Redundant Manipulators

被引：11

作者：

Guo, Dongsheng ^{[1
]}

Feng, Qingshan ^{[1
]}

Cai, Jianhuang ^{[1
]}

机构：

[1] Huaqiao Univ, Coll Informat Sci & Engn, Xiamen 361021, Peoples R China

来源：

IEEE ACCESS | 2019年 / 7卷

基金：

中国国家自然科学基金;

关键词：

Acceleration-level obstacle avoidance; redundant manipulators; quadratic program; KINEMATIC CONTROL; SCHEME; MOTION; DESIGN; ROBOTS;

D O I：

10.1109/ACCESS.2019.2960399

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Avoiding obstacle during path planning is a crucial issue in redundant manipulators. In this study, the obstacle avoidance of redundant manipulators, which is investigated at acceleration level, is presented. Specifically, a new acceleration-level inequality is designed and formulated, which is proven to be capable of avoiding obstacle. By combining the end-effector planning requirement (formulated as equality constraint) and incorporating the physical limits (formulated as bound constraints), the acceleration-level obstacle avoidance (ALOA) scheme for redundant manipulators is proposed. Such scheme is transformed into a quadratic program and is computed by a numerical algorithm. Simulation results under the PA10 manipulator with different obstacles further validate the effective performance of the proposed ALOA scheme.

引用

页码：183040 / 183048

页数：9

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