REAL-TIME COLLISION-AVOIDANCE FOR REDUNDANT MANIPULATORS

被引：60

作者：

GLASS, K ^{[1
]}

COLBAUGH, R ^{[1
]}

LIM, D ^{[1
]}

SERAJI, H ^{[1
]}

机构：

[1] CALTECH, JET PROP LAB, PASADENA, CA 91109 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 03期

关键词：

D O I：

10.1109/70.388789

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a simple and robust approach to achieving collision avoidance for kinemetically redundant manipulators at the control-loop level. The proposed scheme represents the obstacle avoidance requirement 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 and experimental results are given for a Robotics Research 7 DOF redundant arm and demonstrate the collision avoidance capability for reaching inside a truss structure. These results confirm that the proposed approach provides a simple and effective method for real-time collision avoidance.

引用

页码：448 / 457

页数：10

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