Kinematic Control of Planar Redundant Manipulators Moving Between Obstacles
A method for kinematic control of redundant manipulators moving in a plane cluttered with convex planar obstacles has been developed.
The method permits the tip of the hand to approach any arbitrary point in the free space while the kinematic control algorithm maximizes the distance of the joints from the obstacles.
The method is presented analytically and its effectiveness is illustrated by simulating the motion of a manipulator between obstacles.
Unable to display preview. Download preview PDF.
- 1.Lozano-Perez T. “Spatial Planning: A Configuration Space Approach”, IEEE Trans. on Computers, Vol. C-32, No 1, February 1983.Google Scholar
- 2.Brooks R. “Solving the Find-Path Problem by Good Representation of Free Space”, IEEE Transactions on Systems, Man, and Cybernetics, Vol SMC-13, No 3,March/April 1983.Google Scholar
- 3.Klein C. and Huang C.,“Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators”,IEEE Transactions on Systems, Man, and Cybernetics, Vol SMC-13, No 3,March/April 1983.Google Scholar
- 4.Liegeois A. “Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms”, IEEE Transactions on Systems, Man, and Cybernetics, Vol SMC-7, No 12, December 1977.Google Scholar
- 5.Fenton R. G., Benhabib B., and Goldenberg, Benhabib B., and Goldenberg, “Optimal Point-to-Point Motion Control of Robots with redundant Degrees of Freedom”, ASME Trans. Vol. 108, May 1986.Google Scholar
- 6.Aspragathos N., and Hewit J., “Kinematic Control of a Planar Manipulator with Access Constraints”, Conference on Control Problems of Industrial Robots, Varna, 10–14 October 1983.Google Scholar
- 7.Aspragathos N. A. “ Algorithm for Continuous Path Control of Manipulators with Obstacles in the Workspace”, Conference on Control Problems of Industrial Robots, Sophia, 1987.Google Scholar