ROMANSY 11 pp 277-284 | Cite as

Control of a Redundant SCARA Robot in the Presence of Obstacles

  • W. Risse
  • M. Hiller
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


A redundant SCARA robot for operation in restricted work spaces is presented that performs collision free motion while simultaneously following a specified end-effector trajectory. The control system combines resolved motion rate control with secondary goals, in particular on-line collision avoidance. The implemented control algorithms are based on artificial potential fields induced by obstacles within a model of the work space. Results of experimental studies illustrate the manoeuvrability of the robot within an environment restricted by obstacles.


Collision Avoidance Work Space Redundant Manipulator Artificial Potential Field Redundant Robot 


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • W. Risse
    • 1
  • M. Hiller
    • 2
  1. 1.Gerhard-Mercator UniversityDuisburgGermany
  2. 2.IMECH GmbHMoersGermany

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