A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Dede, Mehmet İsmet Can; Maaroof, Omar W.; Tatlıcıoğlu, Enver

doi:10.5772/62471

Cited by 9 publications

(4 citation statements)

References 24 publications

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“…Among possible secondary tasks, the extra DoFs have been used for obstacle avoidance in [16], mechanical joint-limit avoidance in [17], minimization of joint velocities and accelerations in [18], and reducing interaction forces in physical human-robot interaction in [19]. In [20], the manipulability measure was used, and dynamic manipulability was introduced in [21].…”

Section: A Brief Review Of Redundancy Resolution Techniquesmentioning

confidence: 99%

A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

2021

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Redundancy resolution techniques have been widely used for the control of kinematically redundant robots. In this work, one of the redundancy resolution techniques is employed in the mechanical design optimization of a robot arm. Although the robot arm is non-redundant, the proposed method modifies robot arm kinematics by adding virtual joints to make the robot arm kinematically redundant. In the proposed method, a suitable objective function is selected to optimize the robot arm’s kinematic parameters by enhancing one or more performance indices. Then the robot arm’s end-effector is fixed at critical positions while the redundancy resolution algorithm moves its joints including the virtual joints because of the self-motion of a redundant robot. Hence, the optimum values of the virtual joints are determined, and the design of the robot arm is modified accordingly. An advantage of this method is the visualization of the changes in the manipulator’s structure during the optimization process. In this work, as a case study, a passive robotic arm that is used in a surgical robot system is considered and the task is defined as the determination of the optimum base location and the first link’s length. The results indicate the effectiveness of the proposed method.

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Section: A Brief Review Of Redundancy Resolution Techniquesmentioning

confidence: 99%

A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

2021

Self Cite

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“…Then the inverse relations of () for a redundant manipulator can be expressed as [46]:

\overset{q}{true} = J^{+} \overset{x}{true} + {\overset{θ}{true}}_{N}, \overset{q}{true} = J^{+} false(\overset{x}{true} - \overset{J}{true} \overset{q}{true} false) + {\overset{θ}{true}}_{N}

where

{\overset{θ}{true}}_{N}

and

{\overset{θ}{true}}_{N}

are the vectors of joints velocity and acceleration in the null space of

J

. The pseudo‐inverse of

J

can be calculated as:

J^{+} = J^{T} {false(J J^{T} false)}^{- 1}

…”

Section: Control Design and Performance Analysismentioning

confidence: 99%

Adaptive tracking control of robot manipulators with input saturation and time‐varying output constraints

Huang

Wang

et al. 2020

Asian Journal of Control

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This paper investigates adaptive tracking control in task space for robot manipulators with uncertain system dynamics, input saturation, and time‐varying output constraints simultaneously. An auxiliary system is constructed to compensate the effect of the input saturation, and an asymmetric barrier Lyapunov function (BLF) is applied to tackle time‐varying output constraints, while radial basis function (RBF) neural networks (NN) are used to approximate the unknown closed‐loop dynamics. By introducing a disturbance observer (DO), unknown external disturbances from humans and environment are estimated, and NN approximation errors are compensated. A novel adaptive NN tracking controller is designed to guarantee all signals in the closed‐loop system are semi‐globally uniformly ultimately bounded (UUB), while the tracking errors and observer errors converge to a small neighborhood of zero, and the time‐varying output constraints are not violated. Moreover, the adaptive tracking control of redundant robot manipulators is studied, and the subtask and task space tracking of redundant robot manipulators are realized simultaneously, while the stability of the system is proved by Lyapunov stability theory. Finally, some simulation results are presented to verify the effectiveness and superiority of the proposed control scheme.

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“…They are required to operate in complex environments with different assignments. [1][2][3] To accomplish the given task, the robot has to interact with the environment, where autonomous grasping is an important aspect. With this capability, the robot can provide better services.…”

Section: Introductionmentioning

confidence: 99%

A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes

Geng

Cao

Li³

et al. 2021

International Journal of Advanced Robotic Systems

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Vision-based grasping plays an important role in the robot providing better services. It is still challenging under disturbed scenes, where the target object cannot be directly grasped constrained by the interferences from other objects. In this article, a robotic grasping approach with firstly moving the interference objects is proposed based on elliptical cone-based potential fields. Single-shot multibox detector (SSD) is adopted to detect objects, and considering the scene complexity, Euclidean cluster is also employed to obtain the objects without being trained by SSD. And then, we acquire the vertical projection of the point cloud for each object. Considering that different objects have different shapes with respective orientation, the vertical projection is executed along its major axis acquired by the principal component analysis. On this basis, the minimum projected envelope rectangle of each object is obtained. To construct continuous potential field functions, an elliptical-based functional representation is introduced due to the better matching degree of the ellipse with the envelope rectangle among continuous closed convex curves. Guided by the design principles, including continuity, same-eccentricity equivalence, and monotonicity, the potential fields based on elliptical cone are designed. The current interference object to be grasped generates an attractive field, whereas other objects correspond to repulsive ones, and their resultant field is used to solve the best placement of the current interference object. The effectiveness of the proposed approach is verified by experiments.

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A New Objective Function for Obstacle Avoidance by Redundant Service Robot Arms

Cited by 9 publications

References 24 publications

A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

A Robot Arm Design Optimization Method by Using a Kinematic Redundancy Resolution Technique

Adaptive tracking control of robot manipulators with input saturation and time‐varying output constraints

A robotic grasping approach with elliptical cone-based potential fields under disturbed scenes

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