Control of a Redundant SCARA Robot in the Presence of Obstacles
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.
KeywordsCollision Avoidance Work Space Redundant Manipulator Artificial Potential Field Redundant Robot
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